The problem of modelling and controlling the impact between the end-effectors of two cooperating planar two-link manipulators is considered in this paper. The motion equations of the robots are determined both in the contact condition and in the non-contact one. The proposed control scheme allows the global asymptotic regulation of the robot arms to a desired configuration, with a prescribed contact force, by utilizing the estimate of the impact-induced forces provided by reduced-order observers. Simulation results confirm the theoretical effectiveness of the proposed algorithm.
Indri, M., Tornambe, A. (1997). Impact model and control of two cooperating planar manipulators. In Proceedings of the American Control Conference (pp.101-105). Piscataway, NJ, United States : IEEE [10.1109/ACC.1997.611763].
Impact model and control of two cooperating planar manipulators
Tornambe, Antonio
1997-01-01
Abstract
The problem of modelling and controlling the impact between the end-effectors of two cooperating planar two-link manipulators is considered in this paper. The motion equations of the robots are determined both in the contact condition and in the non-contact one. The proposed control scheme allows the global asymptotic regulation of the robot arms to a desired configuration, with a prescribed contact force, by utilizing the estimate of the impact-induced forces provided by reduced-order observers. Simulation results confirm the theoretical effectiveness of the proposed algorithm.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
