Abstract
This chapter presents an overview of the main issues related to modeling and control of cooperative robotic manipulators. A historical path is followed to present the main research results on cooperative manipulation. Kinematics and dynamics of robotic arms cooperatively manipulating a tightly grasped rigid object are briefly discussed. Then, this entry presents the main strategies for force/motion control of the cooperative system.
Introduction
Since the early 1970s, it has been recognized that many tasks, which are difficult or even impossible to execute by a single robotic manipulator, become feasible when two or more manipulators work in a cooperative way. Examples of typical cooperative tasks are the manipulation of heavy and/or large payloads, assembly of multiple parts, and handling of flexible and articulated objects (Fig. 1).
An example of a cooperative robotic work cell composed by two industrial robot arms
This is a preview of subscription content, log in via an institution to check access.
Reference
Bonitz RG, Hsia TC (1996) Internal force-based impedance control for cooperating manipulators. IEEE Trans Robot Autom 12:78–89
Caccavale F, Uchiyama M (2008) Cooperative manipulators. In: Siciliano B, Khatib O (eds) Springer handbook of robotics – chapter 29. Springer, Heidelberg
Caccavale F, Chiacchio P, Chiaverini S (2000) Task-space regulation of cooperative manipulators. Automatica 36:879–887
Caccavale F, Chiacchio P, Marino A, Villani L (2008) Six-DOF impedance control of dual-arm cooperative manipulators. IEEE/ASME Trans Mechatron 13:576–586
Chiacchio P, Chiaverini S, Sciavicco L, Siciliano B (1991a) Global task space manipulability ellipsoids for multiple arm systems. IEEE Trans Robot Autom 7:678–685
Chiacchio P, Chiaverini S, Sciavicco L, Siciliano B (1991b) Task space dynamic analysis of multiarm system configurations. Int J Robot Res 10:708–715
Chiacchio P, Chiaverini S, Siciliano B (1996) Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system. ASME J Dyn Syst Meas Control 118:691–697
Fink J, Michael N, Kim S, Kumar V (2011) Planning and control for cooperative manipulation and transportation with aerial robots. Int J Robot Res 30:324–334
Hsu P (1993) Coordinated control of multiple manipulator systems. IEEE Trans Robot Autom 9:400–410
Hu Y-R, Goldenberg AA, Zhou C (1995) Motion and force control of coordinated robots during constrained motion tasks. Int J Robot Res 14:351–365
Khatib O, Yokoi K, Chang K, Ruspini D, Holmberg R, Casal A (1996) Coordination and decentralized cooperation of multiple mobile manipulators. J Robot Systems 13:755-764
Koivo AJ, Unseren MA (1991) Reduced order model and decoupled control architecture for two manipulators holding a rigid object. ASME J Dyn Syst Meas Control 113:646–654
Sang KS, Holmberg R, Khatib O (1995) The augmented object model: cooperative manipulation and parallel mechanisms dynamics. In: Proceedings of the 2000 IEEE international conference on robotics and automation, San Francisco, pp 470–475
Schneider SA, Cannon Jr RH (1992) Object impedance control for cooperative manipulation: theory and experimental results. IEEE Trans Robot Autom 8:383–394
Uchiyama M, Dauchez P (1993) Symmetric kinematic formulation and non-master/slave coordinated control of two-arm robots. Adv Robot 7:361–383
Walker ID, Marcus SI, Freeman RA (1989) Distribution of dynamic loads for multiple cooperating robot manipulators. J Robot Syst 6:35–47
Walker ID, Freeman RA, Marcus SI (1991) Analysis of motion and internal force loading of objects grasped by multiple cooperating manipulators. Int J Robot Res 10:396–409
Wen JT, Kreutz-Delgado K (1992) Motion and force control of multiple robotic manipulators. Automatica 28:729–743
Williams D, Khatib O (1993) The virtual linkage: a model for internal forces in multi-grasp manipulation. In: Proceedings of the 1993 IEEE international conference on robotics and automation, Atlanta, pp 1025–1030
Yamano M, Kim J-S, Konno A, Uchiyama M (2004) Cooperative control of a 3D dual-flexible-arm robot. J Intell Robot Syst 39:1–15
Yukawa T, Uchiyama M, Nenchev DN, Inooka H (1996) Stability of control system in handling of a flexible object by rigid arm robots. In: Proceedings of the 1996 IEEE international conference on robotics and automation, Minneapolis, pp 2332–2339
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag London
About this entry
Cite this entry
Caccavale, F. (2013). Cooperative Manipulators. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_175-1
Download citation
DOI: https://doi.org/10.1007/978-1-4471-5102-9_175-1
Received:
Accepted:
Published:
Publisher Name: Springer, London
Online ISBN: 978-1-4471-5102-9
eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering
Publish with us
Chapter history
-
Latest
Cooperative Manipulators- Published:
- 14 December 2019
DOI: https://doi.org/10.1007/978-1-4471-5102-9_175-2
-
Original
Cooperative Manipulators- Published:
- 23 March 2014
DOI: https://doi.org/10.1007/978-1-4471-5102-9_175-1