Modeling and control of dual arm robotic manipulators using decentralized navigation functions
2012 (English)In: IFAC Proc. Vol. (IFAC-PapersOnline), 2012, 241-246 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
2012. 241-246 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670
Angle constraint, Decentralized navigation, Modeling and control, Nonholonomics, Robotic manipulators, Small region, Sub-problems, Two agents, End effectors, Flexible manipulators, Multi agent systems, Controllers
IdentifiersURN: urn:nbn:se:kth:diva-129697DOI: 10.3182/20120905-3-HR-2030.00082ScopusID: 2-s2.0-84881017278ISBN: 9783902823113OAI: oai:DiVA.org:kth-129697DiVA: diva2:653424
10th IFAC Symposium on Robot Control
QC 201310042013-10-042013-10-032013-10-04Bibliographically approved