TY - JOUR
T1 - Adaptive synchronized control for coordination of two robot manipulators
AU - Sun, Dong
AU - Mills, James K.
PY - 2002
Y1 - 2002
N2 - A new coordination scheme for two-manipulator systems is developed by maintaining certain kinematic relationship between manipulators using motion synchronization. The coordinations strategy is to let each manipulator track its desired trajectory while synchronizing its motion with the other manipulator's motion so that the differential position error between two manipulators converge to zero. The proposed synchronized controller for each manipulator incorporates the cross-coupling technology into an adaptive control architecture, by feeding back the position error of each manipulator and the differential position error between two manipulators. The proposed algorithm guarantees asymptotic convergence to zero of both position errors and synchronization error. Implementation of this new coordination scheme, which is in a decentralized architecture, is more straightforward. Experiment on two industrial manipulators demonstrates the effectiveness of the proposed approach.
AB - A new coordination scheme for two-manipulator systems is developed by maintaining certain kinematic relationship between manipulators using motion synchronization. The coordinations strategy is to let each manipulator track its desired trajectory while synchronizing its motion with the other manipulator's motion so that the differential position error between two manipulators converge to zero. The proposed synchronized controller for each manipulator incorporates the cross-coupling technology into an adaptive control architecture, by feeding back the position error of each manipulator and the differential position error between two manipulators. The proposed algorithm guarantees asymptotic convergence to zero of both position errors and synchronization error. Implementation of this new coordination scheme, which is in a decentralized architecture, is more straightforward. Experiment on two industrial manipulators demonstrates the effectiveness of the proposed approach.
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U2 - 10.1109/ROBOT.2002.1013482
DO - 10.1109/ROBOT.2002.1013482
M3 - RGC 22 - Publication in policy or professional journal
SN - 1050-4729
VL - 1
SP - 976
EP - 981
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2002 IEEE International Conference on Robotics and Automation
Y2 - 11 May 2002 through 15 May 2002
ER -
