Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object
Coordinated Dynamic Hybrid Position/Force Control for Multiple Robot Manipulators Handling One Constrained Object
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DOI：
10.1177/027836499301200302
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发表时间：
1990-05
期刊：
影响因子：
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通讯作者：
T. Yoshikawa;Xin-Zhi Zheng
中科院分区：
文献类型：
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作者：
T. Yoshikawa;Xin-Zhi Zheng
在使用多个机器人臂或多指机器人手协调操纵单个物体时，需要同时控制物体运动和由臂或手指施加在物体上的内力。此外，在对象的运动由于与其环境接触而在某些方向上受到约束的情况下，约束力的控制也变得必要。本文提出了一种多机器人机构协调动态混合控制方法。该方法综合考虑了机械手动力学和物体动力学，对受约束物体的运动、约束力和内力进行控制。自由空间中物体的运动控制可以看作是同一公式中的一个特例。采用统一的描述方法，以适应不同的抓取类型。几个实验结果表明，所提出的方法的有效性。这篇文章的结果将是有用的精细操作任务，使用多个机器人机构，其中的个别规格的对象运动，对象和它的环境之间的相互作用力，和对象的把握力。
In coordinated manipulation of a single object using multiple robot arms or a multifingered robot hand, simultaneous control of the object motion and of the internal force exerted by arms or fingers on the object is required. Furthermore, in the case where the motion of the object is constrained in some direc tions because of contact with its environment, control of the constraint force also becomes necessary. In this article, we pro pose a coordinated dynamic hybrid control method for multiple robotic mechanisms. The method takes the manipulator dynam ics and object dynamics into consideration and controls the motion of an object under constraint as well as the constraint force and the internal force. The motion control of an object in free space can be treated as a special case within the same formulation. A unified description for accommodating various grasp types is used. Several experimental results that show the validity of the proposed approach are presented. The results of this article will be useful for fine manipulation tasks using multiple robotic mechanisms, where the individual specifications of the object motion, the interaction force between the object and its environment, and the grasping force of the object are given.