Authors:
Viorel Stoian
and
Eugen Bobasu
Affiliation:
University of Craiova, Romania
Keyword(s):
Control Algorithm, Cooperative Robotic Systems, Inverse Kinematics, Control in Fault Conditions, Inverse Model Method.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
This paper expounds a control procedure and a control algorithm with two levels to solve the control
problem of a cooperating multi-arm robotic system. This system is composed of a structure like a gripper
with n fingers manipulating a usual object. The control system is a hierarchical system. The problems of the
inter-coordination and the force distribution are decided by the top tier coordinator which brings together all
the appropriate information. This information is directed towards the n inferior level subsystems. The local
control is solved by assigning the local controllers based on the inverse model method. The robotic structure
is either in a correct position when possible, or by minimising the movements and using the adequate
commands to the functional joints, in an acceptable proximity position of the desired co-ordinates. It is also
proposed a synthesis of the commands. The paper presents a workspace analysis and an algorithm for the
actuators in the terms of a good work
ing for finding the optimal motions by blocking or unblocking some
robotic joints.
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