Distributively controlling two robots handling an object in the task space without any communication

Two distributed cooperation controllers are presented for trajectory tracking of two manipulators which are cooperatively handling an object. The controllers control the positions of the robots distributively by using the trajectory error of the object in the task space. In the first controller, the...

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Bibliographic Details
Published in:IEEE transactions on automatic control 1996-08, Vol.41 (8), p.1193-1198
Main Authors: Yun-Hui Liu, Arimoto, S.
Format: Article
Language:English
Subjects:
Applied sciences
Asymptotic stability
Communication system control
Computer science
control theory
systems
Control theory. Systems
Distributed control
Error correction
Exact sciences and technology
Force control
Force feedback
Manipulators
Orbital robotics
Robot control
Robotics
Trajectory
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Summary:Two distributed cooperation controllers are presented for trajectory tracking of two manipulators which are cooperatively handling an object. The controllers control the positions of the robots distributively by using the trajectory error of the object in the task space. In the first controller, the internal force between the object and a manipulator is controlled only by a feedforward of the desired force. The second controller uses a force feedback. No communication is required between the manipulators in both the controllers. Their globally and exponentially asymptotic stabilities are guaranteed by Lyapunov functions.
ISSN:0018-9286
1558-2523
DOI:10.1109/9.533683