Impact model and control of two multi-DOF cooperating manipulators

• Published in: IEEE transactions on automatic control Vol. 44; no. 6; pp. 1297 - 1303
• Main Authors: Indri, M., Tornambe, A.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.06.1999; Institute of Electrical and Electronics Engineers
• Subjects: Applied sciences; Asymptotic properties; Computer science; control theory; systems; Contact; Contact force; Control theory. Systems; Cooperating robots; Equations of motion; Exact sciences and technology; Force control; Force feedback; Force measurement; Impedance; Manipulator dynamics; Manipulators; Motion control; Orbital robotics; Robot arms; Robot kinematics; Robotic assembly; Robotics; Robots; Velocity control; Equation of motion; Cooperation; Control system; Force control; Modeling; Robotics; Mechanical shock; Contact; Manipulator
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/9.769394

The problem of modeling and controlling the impact between the end-effecters of two multi-DOF cooperating manipulators is considered, with the goal of designing a control scheme that brings the end-effectors in a steady-state contact with each other and regulates the robots to the desired configurations, with an assigned contact force. The equations of motion of the robots are determined both in the contact condition and in the noncontact one. One controller is designed for each manipulator, independently of the other one, including a reduced-order observer for the estimation of the impact-induced forces; in particular, each controller requires only the position and velocity measurements of the robot on which it is implemented. Such a control scheme, which works correctly also when the robots do not interact (no switching condition is present), allows the global asymptotic regulation of the cooperating robot arms to the desired configuration, with the prescribed contact force, as it is analytically proven in the paper.