Force Synchronization of Multiple Robot Manipulators: A First Study
Motion synchronization of multi-composed systems has proved to be efficient at improving productivity in industrial production processes and found its applications in wider areas such as formation control of mobile robots,multiple robot manipulators coordination,etc.With the development of robot technologies,robotic systems have been used more extensively in service and other non-traditional domains,where contact force between robot and the object/environment under interaction is of great interest and importance.As the counterpart of motion synchronization in multi-robot control,force synchronization has not been explored yet in literature.This work presents the first study of force synchronization for multi-robot system.Based on cross-coupling technique,the force synchronization scheme is developed and asymptotic convergence of both force control error of single manipulator and mutual coupling errors between each pair of the whole robotic system is guaranteed through Lyapunov analysis.Simulation studies of two situations confirm the efficiency of proposed control method and show the improved performance of force control for multi-robot system in terms of accuracy and robustness against external disturbances.
Force synchronization multiple robot manipulators cross-coupling asymptotic stability
LIU Chao ZHAO Dongya XIANG Xianbo
LIRMM,French National Center for Scientific Research(CNRS),Montpellier 34095,France College of Chemical Engineering,China University of Petroleum,Qingdao,China,266580 Department of Marine Engineering,School of Naval Architecture and Ocean Engineering,Huazhong Univers
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
2212-2217
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）