Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

K. Kosuge; T. Oosumi; H. Seki

doi:10.1109/iros.1997.648976

Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

K. Kosuge
, T. Oosumi
, H. Seki

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

23 Citations (Scopus)

Abstract

We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedance-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Pages	17-22
Volume	1
DOIs	https://doi.org/10.1109/iros.1997.648976
Publication status	Published - 1997
Externally published	Yes
Event	Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr Duration: 7 Sept 1997 → 11 Sept 1997

Conference

Conference	Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
City	Grenoble, Fr
Period	7/09/97 → 11/09/97

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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@inproceedings{495eb0c585c740f3939f2d30a2928f38,

title = "Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm",

abstract = "We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedance-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.",

author = "K. Kosuge and T. Oosumi and H. Seki",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) ; Conference date: 07-09-1997 Through 11-09-1997",

year = "1997",

doi = "10.1109/iros.1997.648976",

language = "English",

volume = "1",

pages = "17--22",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

address = "United States",

}

Kosuge, K, Oosumi, T & Seki, H 1997, Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm. in IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, pp. 17-22, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3), Grenoble, Fr, 7/09/97. https://doi.org/10.1109/iros.1997.648976

Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm. / Kosuge, K.; Oosumi, T.; Seki, H.
IEEE International Conference on Intelligent Robots and Systems. Vol. 1 IEEE, 1997. p. 17-22.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

AU - Kosuge, K.

AU - Oosumi, T.

AU - Seki, H.

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1997

Y1 - 1997

N2 - We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedance-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.

AB - We propose a decentralized control algorithm of multiple manipulators handling a single object in coordination. The proposed algorithm is a leader-follower type; the motion command of the object is given to one of the manipulators, referred to as a leader, and the other manipulators, referred to as followers, estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated motion. Different from the conventional leader-follower type of control algorithms, each manipulator is impedance-controlled and has equal dynamic characteristics. The stability of the resultant system with the decentralized control algorithm is also guaranteed. The proposed control algorithm is experimentally implemented in two industrial manipulators and the experimental results illustrate the validity of the system.

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DO - 10.1109/iros.1997.648976

M3 - RGC 32 - Refereed conference paper (with host publication)

VL - 1

SP - 17

EP - 22

BT - IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

T2 - Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)

Y2 - 7 September 1997 through 11 September 1997

ER -

Decentralized control of multiple manipulators handling an object in coordination based on impedance control of each arm

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