Position and force control with mass estimation for cooperative systems ; Control de posición y fuerza con estimación de masa para sistemas cooperativos
368 379 17 4 ; OJS ; [EN] The cooperative manipulation of an object by two or more robotic arms requires controlling both the object's movement and the forces exerted by the manipulators. In terms of kinematics and static, the chosen approach is based on the so–called symmetric formulation. A control algorithm using a modified hybrid computed–torque method based on the Principle of Orthogonalization is designed. In addition, the mass of the object is estimated by calculating the force applied by each end–effector to hold the object. The proposed method is a natural extension of an adaptive control scheme previously reported for geometrically restricted manipulators. The stability test is developed using Lyapunov's theory. Experimental results are presented. Arimoto, S. and Liu, Y. H. and Naniwa, T., 1993. Principle of Orthogonalization for Hybrid Control of Robot Arms. Proceedings of the IFAC 12th Triennial World Congress. Volume 26, Issue 2, Part 3, 335-340. Sidney, Australia. https://doi.org/10.1016/S1474-6670(17)48744-1 Arimoto, S. and Liu, Y. H. and Naniwa, T., 1993. Model-Based Adaptive Hybrid Control for Geometrically Constrained Robots. Proceedings IEEE International Conference on Robotics and Automation. 618-623. Atlanta, GA, USA. https://doi.org/10.1109/ROBOT.1993.292047 Dauchez, P. and Zapata, R., 1985. Co-ordinated control of two cooperative manipulators: the use of a kinematic model. Proceedings 15th Int. Symp. Industrial Robots. 641-648. Tokyo, Japan. Fujii, S. and Kurono, S., 1975. Coordinated computer control of a pair of manipulators. Proceedings 4th IFToMM World Congress, University of Newcastle upon Tyne. 411-417. England. Gudiño-Lau, J. and Arteaga-Pérez, M. A., 2003. Force Control with a Velocity Observer. Proc. European Control Conference (ECC 2003). 52-55. Cambridge, UK. https://doi.org/10.23919/ECC.2003.7086506 Gudiño-Lau, J. and Arteaga-Pérez, M. A. and Muñoz, L. A. and Parra-Vega, V., 2004. On the control of cooperative robots without velocity measurements. IEEE Transactions on Control ...