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Rigid Body dynamics and decoupled control architecture for two strongly interacting manipulators

Published online by Cambridge University Press:  09 March 2009

M.A. Unseren
M.A. Unseren
Affiliation:
Oak Ridge National Laboratory, Center for Engineering Systems Advanced Research, Building 6025, MS 6364, P.O. Box 2008, Oak Ridge, TN 37831-6364 (U.S.A.)
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Summary

A rigid body dynamical model and control architecture are developed for the closed chain motion of two structurally dissimilar manipulators holding a rigid object in a three-dimensional workspace. The model is first developed in the joint space and then transformed to obtain reduced order equations of motion and a separate set of equations describing the behavior of the generalized contact forces. The problem of solving the joint space and reduced order models for the unknown variables is discussed. A new control architecture consisting of the sum of the outputs of a primary and secondary controller is suggested which, according to the model, decouples the force and position-controlled degrees of freedom during motion of the system. The proposed composite controller enables the designer to develop independent, non-interacting control laws for the force and position control of the complex closed chain system.

Keywords

Two manipulatorsRigid body dynamicsControl architectureReduced order modelComposite controller
Type
Article
Information
Robotica , Volume 9 , Issue 4 , December 1991 , pp. 421 - 430
Copyright
Copyright © Cambridge University Press 1991

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