On adaptive synchronization control of coordinated multirobots with flexible/rigid constraints

In assembly tasks performed by coordinated multiple robots, the contact force at the end-effector of each robot should be a function of the states of all the robots, and further be a function of the control inputs when subject to rigid constraints. After a discussion on the algebraic loop issue caus...

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Bibliographic Details
Published in:IEEE transactions on robotics 2005-06, Vol.21 (3), p.520-525
Main Author: ZHU, Wen-Hong
Format: Article
Language:English
Subjects:
Adaptative systems
Adaptive control
Applied sciences
compliance control
Computer science
control theory
systems
Control systems
Control theory. Systems
cooperative systems
coordination
distributed control
Exact sciences and technology
Force control
Force feedback
Linear feedback control systems
Lyapunov methods
Manipulator dynamics
manipulators
Motion control
multirobot
position control
Programmable control
robot dynamics
Robot kinematics
Robotic assembly
Robotics
stability
synchronization
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Summary:In assembly tasks performed by coordinated multiple robots, the contact force at the end-effector of each robot should be a function of the states of all the robots, and further be a function of the control inputs when subject to rigid constraints. After a discussion on the algebraic loop issue caused by using direct force cancellation, an adaptive synchronization control algorithm is proposed in this paper, which particularly addresses the dual-arm case subject to both flexible and rigid constraints. Extension of the result to the multiple-arm case is also presented.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.839219