1,725 research outputs found
Robust Cooperative Manipulation without Force/Torque Measurements: Control Design and Experiments
This paper presents two novel control methodologies for the cooperative
manipulation of an object by N robotic agents. Firstly, we design an adaptive
control protocol which employs quaternion feedback for the object orientation
to avoid potential representation singularities. Secondly, we propose a control
protocol that guarantees predefined transient and steady-state performance for
the object trajectory. Both methodologies are decentralized, since the agents
calculate their own signals without communicating with each other, as well as
robust to external disturbances and model uncertainties. Moreover, we consider
that the grasping points are rigid, and avoid the need for force/torque
measurements. Load distribution is also included via a grasp matrix
pseudo-inverse to account for potential differences in the agents' power
capabilities. Finally, simulation and experimental results with two robotic
arms verify the theoretical findings
Cooperative Control of Dual Series Robots
Development in manufacturing, automation, space and underwater exploration
has shown vast number of robots being used where most of the existing robots are of
coordinated control of a single arm only. Increasing demand for robots application,
especially in manufacturing has opened a new challenge; dual arm robot cooperation.
This challenge is to develop robots which can carry out greater task which could either
be heavy in load or complex in working. The main objectives for this project are to
study on the available techniques of cooperative control, to design a program based on
the chosen technique, to integrate the program in the system of two existing robot arms
handling one common load and to ensure precise tracking of a desired formation and
simplicity in its design. The methods being used in this project are performing literature\ud
review, selection of cooperative control technique where three cooperative control
techniques namely Master/Slave control, Centralized and Decentralized control are
compared and implemented to the existing robots, as well as conducting experiment on
the real system. Results from the experiment are analyzed and improvised to prove that
cooperative control technique could be used for this study. Results from this study are
in form of programming of the control system, ladder diagram showing inputs and
outputs of the system utilized and calculation of error of relative coordinate of the two
robots after experiment execution. In conclusion, master/slave technique has been
selected to be most suitable for this study based on its accuracy and simplicity of its
design. The objectives for this project have been achieved where no error above lmm
recorded which indicates accuracy and number of lines of programming are 21 lines for
Master and 16 lines for Slave robot thus, proving its simplicity. However, improvement
on the method used could be further studied to minimize number of lines, using other
method or extension of this project where rotational motion could be studied
High speed, precision motion strategies for lightweight structures
Research on space telerobotics is summarized. Adaptive control experiments on the Robotic Arm, Large and Flexible (RALF) were preformed and are documented, along with a joint controller design for the Small Articulated Manipulator (SAM), which is mounted on the RALF. A control algorithm is described as a robust decentralized adaptive control based on a bounded uncertainty approach. Dynamic interactions between SAM and RALF are examined. Unstability of the manipulator is studied from the perspective that the inertial forces generated could actually be used to more rapidly damp out the flexible manipulator's vibration. Currently being studied is the modeling of the constrained dynamics of flexible arms
Cooperative Control of the Dual Gantry-Tau Robot
Utilization of multiple parallel robots operating in the same work place and cooperating
on the same job have opened up new challenges in coordination control strategies.
Multiple robot control is a natural progression for Parallel Kinematic Machines (PKM) as
it offers many of the desirable qualities especially in cooperative arrangements where
multiple robots can be associated with an easily reconfigurable parallel machine. These
special characteristics allow much faster and precise manipulations especially in
manufacturing industries. With the possibility of cooperative control architecture, PKMs
will be able to perform many of the tasks currently requiring dual serial robots such as
complex assemblies, heavy load sharing and large machining jobs
Decentralized Adaptive Control for Collaborative Manipulation of Rigid Bodies
In this work, we consider a group of robots working together to manipulate a
rigid object to track a desired trajectory in . The robots do not know
the mass or friction properties of the object, or where they are attached to
the object. They can, however, access a common state measurement, either from
one robot broadcasting its measurements to the team, or by all robots
communicating and averaging their state measurements to estimate the state of
their centroid. To solve this problem, we propose a decentralized adaptive
control scheme wherein each agent maintains and adapts its own estimate of the
object parameters in order to track a reference trajectory. We present an
analysis of the controller's behavior, and show that all closed-loop signals
remain bounded, and that the system trajectory will almost always (except for
initial conditions on a set of measure zero) converge to the desired
trajectory. We study the proposed controller's performance using numerical
simulations of a manipulation task in 3D, as well as hardware experiments which
demonstrate our algorithm on a planar manipulation task. These studies, taken
together, demonstrate the effectiveness of the proposed controller even in the
presence of numerous unmodeled effects, such as discretization errors and
complex frictional interactions
Cooperative Control of Dual Series Robots
Development in manufacturing, automation, space and underwater exploration
has shown vast number of robots being used where most of the existing robots are of
coordinated control of a single arm only. Increasing demand for robots application,
especially in manufacturing has opened a new challenge; dual arm robot cooperation.
This challenge is to develop robots which can carry out greater task which could either
be heavy in load or complex in working. The main objectives for this project are to
study on the available techniques of cooperative control, to design a program based on
the chosen technique, to integrate the program in the system of two existing robot arms
handling one common load and to ensure precise tracking of a desired formation and
simplicity in its design. The methods being used in this project are performing literature
review, selection of cooperative control technique where three cooperative control
techniques namely Master/Slave control, Centralized and Decentralized control are
compared and implemented to the existing robots, as well as conducting experiment on
the real system. Results from the experiment are analyzed and improvised to prove that
cooperative control technique could be used for this study. Results from this study are
in form of programming of the control system, ladder diagram showing inputs and
outputs of the system utilized and calculation of error of relative coordinate of the two
robots after experiment execution. In conclusion, master/slave technique has been
selected to be most suitable for this study based on its accuracy and simplicity of its
design. The objectives for this project have been achieved where no error above lmm
recorded which indicates accuracy and number of lines of programming are 21 lines for
Master and 16 lines for Slave robot thus, proving its simplicity. However, improvement
on the method used could be further studied to minimize number of lines, using other
method or extension of this project where rotational motion could be studied
Passivity-Based adaptive bilateral teleoperation control for uncertain manipulators without jerk measurements
In this work, we consider the bilateral teleoperation problem of cooperative robotic systems in a Single-Master Multi-Slave (SM/MS) configuration, which is able to perform load transportation tasks in the presence of parametric uncertainty in the robot kinematic and dynamic models. The teleoperation architecture is based on the two-layer approach placed in a hierarchical structure, whose top and bottom layers are responsible for ensuring the transparency and stability properties respectively. The load transportation problem is tackled by using the formation control approach wherein the desired translational velocity and interaction force are provided to the master robot by the user, while the object is manipulated with a bounded constant force by the slave robots. Firstly, we develop an adaptive kinematic-based control scheme based on a composite adaptation law to solve the cooperative control problem for robots with uncertain kinematics. Secondly, the dynamic adaptive control for cooperative robots is implemented by means of a cascade control strategy, which does not require the measurement of the time derivative of force (which requires jerk measurements). The combination of the Lyapunov stability theory and the passivity formalism are used to establish the stability and convergence property of the closed-loop control system. Simulations and experimental results illustrate the performance and feasibility of the proposed control scheme.No presente trabalho, considera-se o problema de teleoperação bilateral de um sistema robótico cooperativo do tipo single-master e multiple-slaves (SM/MS) capaz de realizar tarefas de transporte de carga na presença de incertezas paramétricas no modelo cinemático e dinâmico dos robôs. A arquitetura de teleoperação está baseada na abordagem de duas camadas em estrutura hierárquica, onde as camadas superior e inferior são responsáveis por assegurar as propriedades de transparência e estabilidade respectivamente. O problema de transporte de carga é formulado usando a abordagem de controle de formação onde a velocidade de translação desejada e a força de interação são fornecidas ao robô mestre pelo operador, enquanto o objeto é manipulado pelos robôs escravos com uma força constante limitada. Primeiramente, desenvolve-se um esquema de controle adaptativo cinemático baseado em uma lei de adaptação composta para solucionar o problema de controle cooperativo de robôs com cinemática incerta. Em seguida, o controle adaptativo dinâmico de robôs cooperativos é implementado por meio de uma estratégia de controle em cascata, que não requer a medição da derivada da força (o qual requer a derivada da aceleração ou jerk). A teoria de estabilidade de Lyapunov e o formalismo de passividade são usados para estabelecer as propriedades de estabilidade e a convergência do sistema de controle em malha-fechada. Resultados de simulações numéricas ilustram o desempenho e viabilidade da estratégia de controle proposta
Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection
In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation
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