Planning and controlling cooperating robots through distributed impedance

Distributed impedance control of multiple robot systems

This paper proposes the distributed impedance approach as a new formulation of multiple robot systems control. In this approach, each cooperating manipu-lator is provided with its own independant impedance controller. In addition, along selected degrees of freedom , force control is achieved through an external loop, in order to improve control of the object's internal loading. Extensive stabil...

Kinematics and Dynamics of two Cooperating Robots in Spatial Moving of an Object

The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the cr...

Kinematics and Dynamics of two Cooperating Robots in Spatial Moving of an Object

The kinematics and dynamics of two industrial cooperating robots are presented in this paper. The NOC (natural orthogonal complement) method is used to derive the dynamical equations for the motion of two cooperating robots. The joint torques of the two robots are determined based on the optimization techniques in order to obtain unique solution for joint torques. To this end, minimizing the cr...

Impedance Control of Robots Using Voltage Control Strategy Revisited

In this note, we show that the impedance control strategy proposed in the paper is not feasible from practical implementation point of view. Next, a robust impedance controller is proposed for electrically driven robots using Fourier series (FS). The fact that robots' actuators have limited voltage is also considered in controller design procedure. In comparison with other impedance controllers...

Multiple Cooperating Robots - Combining Planning And Behaviours