Adaptive sliding mode coordinated control of multiple robot arms attached to a constrained object

1995 ◽  
Vol 25 (5) ◽  
pp. 871-878 ◽  
Author(s):  
Chun-Yi Su ◽  
Y. Stepanenko
Keyword(s):  
Sliding Mode ◽  
Coordinated Control ◽  
Adaptive Sliding Mode ◽  
Robot Arms ◽  
Multiple Robot

Adaptive Coordinated Control of Multiple Robot Arms

2000 ◽  
Vol 33 (27) ◽  
pp. 261-266 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
Toshimi Shimizu ◽  
Satoshi Ito
Keyword(s):  
Coordinated Control ◽  
Robot Arms ◽  
Multiple Robot

Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

2006 ◽  
Vol 18 (5) ◽  
pp. 580-588 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
◽  
Rizauddin Bin Ramli ◽  
Satoshi Ueki
Keyword(s):  
Reference Model ◽  
Coordinated Control ◽  
Rolling Contact ◽  
Stability Of Motion ◽  
Robot Arms ◽  
Control Scheme ◽  
Planar Robot ◽  
End Effectors ◽  
Multiple Robot ◽  
Object Reference

The decentralized adaptive coordinated control of multiple robot arms grasping a common object constrained by a known environment involves the analysis of cases of rigid and rolling contact between end-effectors and object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. Desired motion of the robot arms is generated by an estimated object reference model. The asymptotic stability of motion is proven by the Lyapunov-like lemma. Experimental results for two planar robot arms with 3 DOF moving a constrained object demonstrate the effectiveness of the control scheme.

scholarly journals Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object

2005 ◽  
Vol 48 (4) ◽  
pp. 632-639 ◽  
Author(s):  
Haruhisa KAWASAKI ◽  
Rizauddin Bin RAMLI ◽  
Satoshi ITO
Keyword(s):  
Coordinated Control ◽  
Robot Arms ◽  
Multiple Robot

Adaptive decentralized coordinated control of multiple robot arms

2003 ◽  
Vol 36 (17) ◽  
pp. 387-392 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
Satoshi Ito ◽  
Rizauddin Bin Ramli
Keyword(s):  
Coordinated Control ◽  
Robot Arms ◽  
Multiple Robot

Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

Automatica ◽  
2006 ◽  
Vol 42 (3) ◽  
pp. 481-488 ◽  
Author(s):  
Haruhisa Kawasaki ◽  
Satoshi Ueki ◽  
Satoshi Ito
Keyword(s):  
Coordinated Control ◽  
Force Sensor ◽  
Robot Arms ◽  
Multiple Robot
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