Cooperative object manipulation with contact impact using multiple impedance control

Moosavian, SAA; Papadopoulos, E

dc.contributor.author	Moosavian, SAA	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:33:04Z
dc.date.available	2014-03-01T01:33:04Z
dc.date.issued	2010	en
dc.identifier.issn	1598-6446	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/20304
dc.subject	Cooperating manipulators	en
dc.subject	Force control	en
dc.subject	Impedance control	en
dc.subject	Object manipulation	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.other	Benchmark system	en
dc.subject.other	Contact task	en
dc.subject.other	Cooperating manipulators	en
dc.subject.other	Error dynamics	en
dc.subject.other	Free motion	en
dc.subject.other	Impedance behavior	en
dc.subject.other	Impedance control	en
dc.subject.other	Large objects	en
dc.subject.other	Manipulated objects	en
dc.subject.other	Manipulation task	en
dc.subject.other	Multiple impedance controls	en
dc.subject.other	Object based	en
dc.subject.other	Object manipulation	en
dc.subject.other	Simulation result	en
dc.subject.other	Switching Control	en
dc.subject.other	Two-link manipulator	en
dc.subject.other	Algorithms	en
dc.subject.other	Error analysis	en
dc.subject.other	Force control	en
dc.subject.other	Manipulators	en
dc.title	Cooperative object manipulation with contact impact using multiple impedance control	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s12555-010-0218-4	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s12555-010-0218-4	en
heal.language	English	en
heal.publicationDate	2010	en
heal.abstract	Impedance Control imposes a desired behavior on a single manipulator interacting with its environment. The Multiple Impedance Control (MIC) enforces a designated impedance on both a manipulated object, and all cooperating manipulators. Similar to the standard impedance control, one of the benefits of this algorithm is the ability to perform both free motions and contact tasks without switching control modes. At the same time, the potentially large object inertia and other forces are taken into account. In this paper the general formulation for the MIC algorithm is developed for distinct cooperating manipulators, and important issues are detailed. Using a benchmark system, the response of the MIC algorithm is compared to that of the Object Impedance Control (OIC). It is shown that in the presence of flexibility, the MIC algorithm results in an improved performance. Next, a system of two cooperating two-link manipulators is simulated, in which a Remote Centre Compliance is attached to the second end-effector. As simulation results show, the response of the MIC algorithm is smooth, even in the presence of an impact due to collision with an obstacle. It is revealed by both error analysis and simulation that under the MIC law, all participating manipulators, and the manipulated object exhibit the same designated impedance behavior. This guarantees good tracking of manipulators and the object based on the chosen impedance laws which describe desired error dynamics, in performing a manipulation task. © ICROS, KIEE and Springer 2010.	en
heal.publisher	INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS	en
heal.journalName	International Journal of Control, Automation and Systems	en
dc.identifier.doi	10.1007/s12555-010-0218-4	en
dc.identifier.isi	ISI:000276338800018	en
dc.identifier.volume	8	en
dc.identifier.issue	2	en
dc.identifier.spage	314	en
dc.identifier.epage	327	en