Abstract
We have established an intuitively sound description of a workcell consisting of manipulators cooperating on tasks. The focus of attention is on the interaction of the tool with the workpiece. The critical quantities to be controlled are the differential distance and differential approach velocity. After contact, interacting force is also important. We present a unified control structure appropriate for manipulator cooperation, and present a systematic design procedure consistent that control structure. The design procedure applies unchanged to force control. We suggest use of the Bessel prototype as a generalization of critical damping for pole placement in such high-order systems.
Preview
Unable to display preview. Download preview PDF.
References
H. Asada and J.-J. E. Slotine, Robot Analysis and Control, New York: John Wiley, 1986.
T. J. Tarn, A. K. Bejczy, and X. Yun, "Coordinated Control of Two Robot Arms," Int. Conf. Robotics Auto., San Francisco, CA, pp. 1375–1380, April 1986.
Harry Y-F. Lam, Analog and Digital Filters, Englewood Cliffs, NJ: Prentice-Hall, 1979.
L. P. Huelsman, and P. E. Allen, Introduction to the Theory and Design of Active Filters, New York: McGraw-Hill, 1980.
Woo, Peng-Yung, "Coordinated Control in a Multi-Manipulator Workcell," Ph.D. Dissertation, University of Pennsylvania, Philadelphia, August 1988.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1989 Springer-Verlag
About this paper
Cite this paper
Woo, PY., Dorny, C.N. (1989). Coordinated control in a multi-manipulator workcell. In: Porter, W.A., Kak, S.C., Aravena, J.L. (eds) Advances in Computing and Control. Lecture Notes in Control and Information Sciences, vol 130. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0043275
Download citation
DOI: https://doi.org/10.1007/BFb0043275
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-51425-1
Online ISBN: 978-3-540-46260-6
eBook Packages: Springer Book Archive