REDUCED ORDER MODEL AND DECOUPLED CONTROL ARCHITECTURE FOR 2 MANIPULATORS HOLDING A RIGID OBJECT

被引：23

作者：

KOIVO, AJ ^{[1
]}

UNSEREN, MA ^{[1
]}

机构：

[1] PURDUE UNIV,SCH ELECT ENGN,W LAFAYETTE,IN 47907

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1991年 / 113卷 / 04期

关键词：

D O I：

10.1115/1.2896470

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A dynamical model and a control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are determined and combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joint space. Reduced order equations of motion and a functional relation for the generalized contact forces are derived. The problem of solving the reduced order model for the forward and inverse dynamics is discussed. Control laws are determined for the reduced order model so as to decouple the force and position (velocity) controlled degrees of freedom (DOF). A simulation example is presented to illustrate the approach.

引用

页码：646 / 654

页数：9

共 21 条

[1] COOPERATIVE CONTROL OF 2 ARMS IN THE TRANSPORT OF AN INERTIAL LOAD IN ZERO GRAVITY [J].