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Modeling and control of dual arm robotic manipulators using decentralized navigation functions
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-7309-8086
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0002-1927-1690
2012 (engelsk)Inngår i: IFAC Proc. Vol. (IFAC-PapersOnline), 2012, s. 241-246Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

We apply multi-agent systems' techniques to the control of dual arm robotic manipulators. The paper is divided into two separate subproblems: the first one considers decentralized navigation of a non-holonomic two-agent system with collision avoidance, corresponding to the end effectors of the robotic arms. For this problem, a controller that guarantees convergence to an arbitrarily small region around the desired destination is proposed. The second subproblem considers decentralized connectivity preserving control of a holonomic multi-agent system of fingers associated with the end effectors. Here, the goal is to account for the angle constraints that are necessary to describe the relationship between fingers connected to the same hand. For this case, both connectivity and convergence are shown with the proposed controller.

sted, utgiver, år, opplag, sider
2012. s. 241-246
Serie
IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670
Emneord [en]
Angle constraint, Decentralized navigation, Modeling and control, Nonholonomics, Robotic manipulators, Small region, Sub-problems, Two agents, End effectors, Flexible manipulators, Multi agent systems, Controllers
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Identifikatorer
URN: urn:nbn:se:kth:diva-129697DOI: 10.3182/20120905-3-HR-2030.00082Scopus ID: 2-s2.0-84881017278ISBN: 9783902823113 (tryckt)OAI: oai:DiVA.org:kth-129697DiVA, id: diva2:653424
Konferanse
10th IFAC Symposium on Robot Control
Merknad

QC 20131004

Tilgjengelig fra: 2013-10-04 Laget: 2013-10-03 Sist oppdatert: 2013-10-04bibliografisk kontrollert

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