COOPERATION OF ROBOTS IN MANIPULATION OF UNKNOWN OBJECTS WITH MULTIPLE IMPEDANCE CONTROL

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CHERAGH POUR SAMAVATI F.; MOUSAVIAN SEYED ALI AKBAR

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Journal: Year:2008 | Volume:42 | Issue:1 (111) Page(s): 65-76

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Title

COOPERATION OF ROBOTS IN MANIPULATION OF UNKNOWN OBJECTS WITH MULTIPLE IMPEDANCE CONTROL

Author(s)

CHERAGH POUR SAMAVATI F. | MOUSAVIAN SEYED ALI AKBAR | Issue Writer Certificate

Keywords

DYNAMICS MODELINGQ3

FORCE/IMPEDANCE CONTROLQ3

MULTIPLE IMPEDANCE CONTROLQ3

PARAMETER IDENTIFICATIONQ3

Abstract

Parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. These parameters are particularly needed in implementation of a model-based controller for robot manipulators. In this paper, the inertial parameters of a manipulated rigid-body object have been estimated. The Newton-Euler equations will be employed to relate the measured joint forces and torques via acceleration-dependent coefficients to the inertial parameters. These parameters will then be estimated on-line by least square method with 100 data points. The MULTIPLE IMPEDANCE CONTROL (MIC) is an advanced model-based algorithm which enforces designed impedance on both a manipulated object, and all cooperating manipulators. The MIC is implemented here on a system of two cooperating Puma 560 manipulators. As simulation results show, the response of the MIC algorithm in the occurrence of an impact due to collision with an obstacle is smooth, even with noticeable estimation error in moments of inertia parameters; which emphasizes the robustness of MIC algorithm

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APA: Copy

CHERAGH POUR SAMAVATI, F., & MOUSAVIAN, SEYED ALI AKBAR. (2008). COOPERATION OF ROBOTS IN MANIPULATION OF UNKNOWN OBJECTS WITH MULTIPLE IMPEDANCE CONTROL. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TEHRAN), 42(1 (111)), 65-76. SID. https://sid.ir/paper/14477/en

Vancouver: Copy

CHERAGH POUR SAMAVATI F., MOUSAVIAN SEYED ALI AKBAR. COOPERATION OF ROBOTS IN MANIPULATION OF UNKNOWN OBJECTS WITH MULTIPLE IMPEDANCE CONTROL. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TEHRAN)[Internet]. 2008;42(1 (111)):65-76. Available from: https://sid.ir/paper/14477/en

IEEE: Copy

F. CHERAGH POUR SAMAVATI, and SEYED ALI AKBAR MOUSAVIAN, “COOPERATION OF ROBOTS IN MANIPULATION OF UNKNOWN OBJECTS WITH MULTIPLE IMPEDANCE CONTROL,” JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TEHRAN), vol. 42, no. 1 (111), pp. 65–76, 2008, [Online]. Available: https://sid.ir/paper/14477/en

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