Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

Kazuhiro Kosuge, T. Oosumi, H. Seki

研究成果: Paper査読

17 被引用数 (Scopus)

抄録

We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedance-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.

本文言語English
ページ17-22
ページ数6
出版ステータスPublished - 1997 12 1
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
継続期間: 1997 9 71997 9 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
CityGrenoble, Fr
Period97/9/797/9/11

ASJC Scopus subject areas

  • 制御およびシステム工学

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