INTERNAL FORCE TUNING OF COOPERATIVE OBJECT MANIPULATION TASKS

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

RASTGARI R.; MOUSAVIAN SEYED ALI AKBAR

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: SCIENTIA IRANICA Year:2008 | Volume:15 | Issue:1 Page(s): 94-107

Download Full-Text

View:

348

Download:

366

Cites:

Information Journal Paper

Title

INTERNAL FORCE TUNING OF COOPERATIVE OBJECT MANIPULATION TASKS

Author(s)

RASTGARI R. | MOUSAVIAN SEYED ALI AKBAR | Issue Writer Certificate

Keywords

Not Registered.

Abstract

To manipulate an object with several cooperating manipulators, the Multiple Impedance Control (MIC) is a model-based algorithm that enforces designated impedance on all cooperating manipulators and the manipulated object. For tuning the inner object forces, it is needed to model the inner forces/torques and include them in the MIC law. In this paper, a virtual linkage model is introduced to determine the inner forces in the MIC law. Also, open loop and a closed loop controllers are designed for inner forces tuning. The MIC law will be compared to the relevant algorithms, i.e., Object Impedance Control (OIC) and Augmented Object Control (AOC). Next, the MIC is used to manipulate an object on a planned path with desired inner forces. The grasp condition is considered either solidly (with all cooperating end-effectors), or, as flexible. Finally, the effects of gain tuning on the variations of inner forces will be discussed. The obtained results reveal the merits of the proposed scheme, in terms of system flexibility and good tracking errors, as well as inner forces tuning, even in the presence of impacts caused by contact with the environment.

Cites

No record.

References

No record.

Cite

APA: Copy

RASTGARI, R., & MOUSAVIAN, SEYED ALI AKBAR. (2008). INTERNAL FORCE TUNING OF COOPERATIVE OBJECT MANIPULATION TASKS. SCIENTIA IRANICA, 15(1), 94-107. SID. https://sid.ir/paper/289580/en

Vancouver: Copy

RASTGARI R., MOUSAVIAN SEYED ALI AKBAR. INTERNAL FORCE TUNING OF COOPERATIVE OBJECT MANIPULATION TASKS. SCIENTIA IRANICA[Internet]. 2008;15(1):94-107. Available from: https://sid.ir/paper/289580/en

IEEE: Copy

R. RASTGARI, and SEYED ALI AKBAR MOUSAVIAN, “INTERNAL FORCE TUNING OF COOPERATIVE OBJECT MANIPULATION TASKS,” SCIENTIA IRANICA, vol. 15, no. 1, pp. 94–107, 2008, [Online]. Available: https://sid.ir/paper/289580/en

Related Journal Papers

No record.

Related Seminar Papers

No record.

Related Plans

No record.

Recommended Workshops