Robust control of multiple robots handling a constrained load

DOI10.1093/IMAMCI/15.3.215MaRDI QIDQ4223711zbMATH OpenOpenAlexFDO

Authors Mohamed Zribi, Loulin Huang

Publication date 19 July 1999

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1093/imamci/15.3.215

zbMATH Keywords

constrained loadmultiple robotic manipulatorsmultiple-robot systemsrobust controluniform ultimate boundedness

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper addresses the problem of controlling multiple robotic manipulators handling a constrained load. Several practical tasks such as assembly, deburring, and transportation require the use of multiple-robot systems. Tasks like these involve multiple robotic manipulations moving a load in free space or along constraint surfaces. Because the dynamics of systems like these are complicated, controller design is difficult and involves controlling the position of the load and the internal force used to grasp the load. When the load being manipulated is constrained, then the constraint force must also be properly applied by the controller. The authors of this paper discuss the specific problem of two robotic manipulators handling a constrained load. They derive kinematics and force relationships and obtain a reduced dynamic model of the system. The authors propose a robust control law which guarantees the uniform ultimate boundedness of the position error, the internal force error, and the constraint-force error. This control law requires only bounds on the uncertainties in the parameters. To illustrate their control law, the authors show simulation results for two three-link planar manipulators moving a load in a horizontal plane.

Recommendations

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Cited in

(6)

• Lyapunov-based control design for multiple robots handling a common object
• Simultaneous control of two robotics arms sharing workspace via visual predictive control
• Coordinated motion control of multi-arm robot systems with optimal load distribution
• Modeling and adaptive coordination control of a two-Robot system
• VARIABLE STRUCTURE CONTROL OF TWO MANIPULATORS HANDLING A CONSTRAINED OBJECT
• Multiple robots motion control to transport an object

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