scholarly journals Two Cooperating Manipulators with Fractional Controllers

10.5772/7243 ◽  
2009 ◽  
Vol 6 (4) ◽  
pp. 31 ◽  
Author(s):  
N. M. Fonseca Ferreira ◽  
J. A. Tenreiro Machado ◽  
József K. Tar
Keyword(s):  
Cooperating Manipulators

Minimizing the Strain Energy for Flexible-Link Cooperating Manipulators

1996 ◽  
Author(s):  
Qiao Sun ◽  
Inna Sharf ◽  
Meyer Nahon
Keyword(s):  
Strain Energy ◽  
Minimum Energy ◽  
Force Distribution ◽  
Structural Flexibility ◽  
Flexible Link ◽  
Minimum Energy Consumption ◽  
Optimal Load ◽  
Cooperating Manipulators ◽  
Minimum Potential ◽  
Potential Damage

Abstract In control of cooperating manipulator systems, force distribution is a central problem. For rigid manipulators, solutions are based on various criteria such as minimum potential damage to the grasped object, minimum energy consumption and optimal load distribution in actuators. However, when considering manipulators with structural flexibility, minimizing the deflections of the mechanical components becomes a highly desirable objective. In this paper, we propose a force distribution scheme based on a local minimum of the strain energy stored in the elastic links of the cooperating manipulators. Numerical example are given to demonstrate the effectiveness of the scheme.

A New Approach on Object Slippage Control in a Cooperating Manipulators System

2007 ◽  
Author(s):  
Shahram Hadian Jazi ◽  
Mehdi Keshmiri ◽  
Farid Sheikholeslam
Keyword(s):  
Dynamic Modeling ◽  
Equations Of Motion ◽  
Friction Model ◽  
System Stability ◽  
Order System ◽  
Control Synthesis ◽  
Modeling And Control ◽  
Cooperating Manipulators ◽  
End Effectors ◽  
New Formulation

Considering slippage in the end-effectors of a set of two cooperating manipulators grasping an object, this paper presents a new dynamic modeling and control synthesis of grasping phenomenon. This dynamic modeling is based on a new formulation for frictional contact where equality and inequality equations in the standard Coulomb Friction model are converted all to a single second order differential equation with switching coefficients. Accuracy of the friction model is verified by comparing its results with those of SimMech. Then equations of motion are reduced to conventional form for nonconstrained system. Assuming the new reduced order system to be BIBO, internal stability of the whole system is analyzed. In the control synthesis of the system a multi phase controller is utilized to control the trajectory tracking of the object as well as slippage control of the end-effectors on the object surfaces. For the proposed controller, a proof is given for system stability and its performance and robustness are shown numerically. The results show superiority of the method and its desirable and excellent performance.

A new controller design scheme for cooperating manipulators - a reliable design approach

1998 ◽  
Vol 13 (6) ◽  
pp. 603-616 ◽  
Author(s):  
Tasuku Hoshino ◽  
Masaaki Hara ◽  
Katsuhisa Furuta
Keyword(s):  
Controller Design ◽  
Design Approach ◽  
Design Scheme ◽  
Cooperating Manipulators ◽  
Reliable Design

scholarly journals Two Cooperating Manipulators with Fractional Controllers

10.5772/9336 ◽  
2010 ◽  
Author(s):  
N. M. Fonseca Ferreira ◽  
J. A. Tenreiro Machado ◽  
Jozsef K.
Keyword(s):  
Cooperating Manipulators
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