FORCE TRACKING AND CONTROL OF MULTIPLE ROBOTIC ARMS IN COOPERATIVE OBJECT MANIPULATION

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MOUSAVIAN SEYED ALI AKBAR; RASTGARI R.

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Journal: INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING AND PRODUCTION MANAGEMENT (IJIE) (INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE) (PERSIAN) Year:2004 | Volume:15 | Issue:1 Page(s): 43-59

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Title

FORCE TRACKING AND CONTROL OF MULTIPLE ROBOTIC ARMS IN COOPERATIVE OBJECT MANIPULATION

Author(s)

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

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Abstract

The Impedance Law can control both position and interacting force of a robot during those tasks which encounter a contact with the environment. In this paper, Multiple Impedance control (MIC) which is an algorithm that enforces designated impedance on all cooperating manipulators, and the manipulated object, is extended to fulfill force tracking requirements. It is shown that the MIC algorithm in this completed format can satisfy force-tracking desires in object manipulation tasks. Next, the disturbance rejection characteristics of this algorithm are studied. Finally, a system of two manipulators during an object manipulation task, subjected to force and torque disturbances applied on several points, is simulated. This simulation study reveals that the effect of disturbances substantially reduces through appropriate tuning of the controller mass matrix gain .The simulation results also reveal the merits of the MIC algorithm in controlling multiple robotic arms even in the presence of significant disturbances, i.e. negligible small errors in both position and force tracking aspects.

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APA: Copy

MOUSAVIAN, SEYED ALI AKBAR, & RASTGARI, R.. (2004). FORCE TRACKING AND CONTROL OF MULTIPLE ROBOTIC ARMS IN COOPERATIVE OBJECT MANIPULATION. INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING AND PRODUCTION MANAGEMENT (IJIE) (INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE) (PERSIAN), 15(1), 43-59. SID. https://sid.ir/paper/65800/en

Vancouver: Copy

MOUSAVIAN SEYED ALI AKBAR, RASTGARI R.. FORCE TRACKING AND CONTROL OF MULTIPLE ROBOTIC ARMS IN COOPERATIVE OBJECT MANIPULATION. INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING AND PRODUCTION MANAGEMENT (IJIE) (INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE) (PERSIAN)[Internet]. 2004;15(1):43-59. Available from: https://sid.ir/paper/65800/en

IEEE: Copy

SEYED ALI AKBAR MOUSAVIAN, and R. RASTGARI, “FORCE TRACKING AND CONTROL OF MULTIPLE ROBOTIC ARMS IN COOPERATIVE OBJECT MANIPULATION,” INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING AND PRODUCTION MANAGEMENT (IJIE) (INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE) (PERSIAN), vol. 15, no. 1, pp. 43–59, 2004, [Online]. Available: https://sid.ir/paper/65800/en

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