Dynamic state feedback control of two cooperative manipulators
作者:
XIAOPING YUN,
期刊:
International Journal of Systems Science
(Taylor Available online 1993)
卷期:
Volume 24,
issue 5
页码: 915-928
ISSN:0020-7721
年代: 1993
DOI:10.1080/00207729308949533
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
Dynamic coordinated control of two robot manipulators that rigidly grasp a common object is studied. A dynamic coordinated control model for the two manipulators is derived that is suitable for system analysis and design in state space. The model takes into account kinematic and dynamic constraints between the two manipulators, and is explicitly described by non-linear state equtions and non-linear output equations in the state space. Since coordinated control requires the control of forces applied to the object by manipulators, the output equations include both position components and force components. While robotic systems with position outputs can be linearized using a static state feedback, systems with force outputs, such as the present two robot system, require a dynamic non-linear state feedback for exact linearization. By using dynamic non-linear feedback, coordinated control of two robotic manipulators is converted into a control problem of linear systems.
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