Exact decoupling of the force-position control using the operational space formulation

2003 ◽  
Author(s):  
B. Bona ◽  
M. Indri
Keyword(s):  
Position Control ◽  
Operational Space ◽  
Space Formulation

Impedance Control of Dual-Arm Systems Based on the Object with Senseless Force

2013 ◽  
Vol 765-767 ◽  
pp. 1920-1923
Author(s):  
Li Jiang ◽  
Yang Zhou ◽  
Bin Wang ◽  
Chao Yu
Keyword(s):  
Numerical Simulations ◽  
Relative Position ◽  
Position Control ◽  
Impedance Control ◽  
Force Sensors ◽  
Operational Space ◽  
Novel Approach ◽  
Control Scheme ◽  
Statics And Dynamics ◽  
Dual Arm

A novel approach to impedance control based on the object is proposed to control dual-arm systems with senseless force. Considering the motion of the object, the statics and dynamics of the dual-arm systems are modeled. Extending the dynamics of dual-arm system and the impedance of object to the operational space, impedance control with senseless force is presented. Simulations on a dual-arm system are carried out to demonstrate the performance of the proposed control scheme. Comparing with position control, results of numerical simulations show that the proposed scheme realizes suitable compliant behaviors in terms of the object, and minimizes the error of the relative position between the manipulators even without force sensors.

Distributed Operational Space Formulation of Serial Manipulators

2013 ◽  
Vol 9 (2) ◽  
Author(s):  
Kishor D. Bhalerao ◽  
James Critchley ◽  
Denny Oetomo ◽  
Roy Featherstone ◽  
Oussama Khatib
Keyword(s):  
Parallel Algorithms ◽  
Time Complexity ◽  
Degrees Of Freedom ◽  
Null Space ◽  
Divide And Conquer ◽  
Serial Manipulators ◽  
Divide And Conquer Algorithm ◽  
Operational Space ◽  
Space Formulation ◽  
Space Dynamics

This paper presents a new parallel algorithm for the operational space dynamics of unconstrained serial manipulators, which outperforms contemporary sequential and parallel algorithms in the presence of two or more processors. The method employs a hybrid divide and conquer algorithm (DCA) multibody methodology which brings together the best features of the DCA and fast sequential techniques. The method achieves a logarithmic time complexity (O(log(n)) in the number of degrees of freedom (n) for computing the operational space inertia (Λe) of a serial manipulator in presence of O(n) processors. The paper also addresses the efficient sequential and parallel computation of the dynamically consistent generalized inverse (J¯e) of the task Jacobian, the associated null space projection matrix (Ne), and the joint actuator forces (τnull) which only affect the manipulator posture. The sequential algorithms for computing J¯e, Ne, and τnull are of O(n), O(n2), and O(n) computational complexity, respectively, while the corresponding parallel algorithms are of O(log(n)), O(n), and O(log(n)) time complexity in the presence of O(n) processors.

Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing

2005 ◽  
Vol 19 (5) ◽  
pp. 613-634 ◽  
Author(s):  
Rodrigo S. Jamisola ◽  
Denny N. Oetomo ◽  
Marcelo H. Ang ◽  
Oussama Khatib ◽  
Tao Ming Lim ◽  
...  
Keyword(s):  
Mobile Manipulator ◽  
Compliant Motion ◽  
Operational Space ◽  
Space Formulation
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