Dynamics and control methods for cooperating manipulators with rolling contacts

In this paper, the authors present a new control algorithm for multiple cooperating mechanisms manipulating a common object, with rolling contact between the end-effectors and the object. The algorithm is based on a new dynamic formulation, in which the rolling degrees of freedom between the end-eff...

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Bibliographic Details
Published inProceedings of 1995 IEEE International Conference on Robotics and Automation Vol. 2; pp. 1509 - 1516 vol.2
Main Authors Deo, A.S., Walker, I.D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1995
Subjects
Arm
Control systems
Force control
Kinematics
Manipulator dynamics
Motion control
Robotics and automation
Trajectory
Vehicle dynamics
Vehicles
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Summary:In this paper, the authors present a new control algorithm for multiple cooperating mechanisms manipulating a common object, with rolling contact between the end-effectors and the object. The algorithm is based on a new dynamic formulation, in which the rolling degrees of freedom between the end-effector and the object are modeled as one or more unactuated joints of the manipulator. Such an augmentation of the rolling contacts imparts each manipulator with additional degrees of freedom and could also make it kinematically redundant. This can be exploited for the satisfaction of a secondary subtask criterion such as collision avoidance. In addition, a control law can be specified that enables simultaneous control of the object trajectory, the internal forces in the object and the trajectories of the contact points on the object or the end-effecters.
ISBN:0780319656
9780780319653
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1995.525489