The problem of controlling a system of two cooperative manipulators tightly grasping a common object is considered. Based on a suitable formulation of the cooperative task space, a novel regulator is devised which is based on two individual regulation schemes for each manipulator. Internal forces at the held object are cancelled via kineto-static filtering of the control action, while force regulation is achieved through force feedback. In order to overcome the problem of representation singularities, end-effector orientation errors are computed through quaternions. The proposed regulation strategy is experimentally tested on a laboratory setup consisting of two industrial manipulators with open control architecture
Quaternion-based regulator for cooperative manipulators
CACCAVALE, Fabrizio;
1998-01-01
Abstract
The problem of controlling a system of two cooperative manipulators tightly grasping a common object is considered. Based on a suitable formulation of the cooperative task space, a novel regulator is devised which is based on two individual regulation schemes for each manipulator. Internal forces at the held object are cancelled via kineto-static filtering of the control action, while force regulation is achieved through force feedback. In order to overcome the problem of representation singularities, end-effector orientation errors are computed through quaternions. The proposed regulation strategy is experimentally tested on a laboratory setup consisting of two industrial manipulators with open control architectureI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
