Bruhm, Hartmut (2023)
Coordinated Motion Planning and Optimal Force Distribution for Robots with Multiple Cooperating Arms.
In: IFAC Proceedings Volumes, 1985, 18 (16)
doi: 10.26083/tuprints-00023397
Artikel, Zweitveröffentlichung, Verlagsversion
Kurzbeschreibung (Abstract)
This paper is concerned with the problems of inter-arm coordination which arise when multiple robot arms attach their end effectors to a single payload in order to perform a manipulation task. The approach taken is to let the arms cooperate with equal rights, and to exploit the redundancy present in the system for the minimization of a quadratic cost criterion. The main elements of the proposed control system are generators for coordinated nominal motions and force/torque interactions with the payload, and an active compliance scheme capable of resolving kinematic conflicts and inconsistencies between motion and force/torque commands. The paper gives a detailed mathematical description of both the motion and the force/torque generators. The proposed active compliance scheme is presented in summary form.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2023 |
| Autor(en): | Bruhm, Hartmut |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Coordinated Motion Planning and Optimal Force Distribution for Robots with Multiple Cooperating Arms |
| Sprache: | Englisch |
| Publikationsjahr: | 2023 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 1985 |
| Verlag: | IFAC - International Federation of Automatic Control |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | IFAC Proceedings Volumes |
| Jahrgang/Volume einer Zeitschrift: | 18 |
| (Heft-)Nummer: | 16 |
| DOI: | 10.26083/tuprints-00023397 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/23397 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| Kurzbeschreibung (Abstract): | This paper is concerned with the problems of inter-arm coordination which arise when multiple robot arms attach their end effectors to a single payload in order to perform a manipulation task. The approach taken is to let the arms cooperate with equal rights, and to exploit the redundancy present in the system for the minimization of a quadratic cost criterion. The main elements of the proposed control system are generators for coordinated nominal motions and force/torque interactions with the payload, and an active compliance scheme capable of resolving kinematic conflicts and inconsistencies between motion and force/torque commands. The paper gives a detailed mathematical description of both the motion and the force/torque generators. The proposed active compliance scheme is presented in summary form. |
| Freie Schlagworte: | Robots, cooperating robot arms, force distribution, active compliance, hierarchical systems, process control, mathematical analysis |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-233970 |
| Zusätzliche Informationen: | Zugl. Konferenzveröffentlichung: 1st IFAC Symposium on Robot Control (SYROCO '85), 06.-08.11.1985, Barcelona, Spain |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Automatisierungstechnik und Mechatronik > Regelungsmethoden und Intelligente Systeme |
| Hinterlegungsdatum: | 28 Apr 2023 08:24 |
| Letzte Änderung: | 03 Mai 2023 10:40 |
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