Internal Force Analysis and Load Distribution for Cooperative Multi-Robot Manipulation

被引:89
作者
Erhart, Sebastian [1 ]
Hirche, Sandra [1 ]
机构
[1] Tech Univ Munich, Chair Informat Oriented Control, D-80290 Munich, Germany
关键词
Cooperative manipulators; grasping; internal stress; kinematics; load distribution; IMPEDANCE CONTROL; MOTION; HANDS;
D O I
10.1109/TRO.2015.2459412
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
The load distribution strategy in cooperative manipulation tasks allocates suitable force and torque setpoints to an ensemble of manipulators in order to implement a desired action on the manipulated object. Due to the manipulator redundancy, the load distribution computed by means of a generalized inverse of the grasp matrix is not uniquely determined. Controversial results on the nonsqueezing property of specific load distributions exist in the literature. In this paper, we propose a new paradigm for the analysis of internal wrenches based on the kinematic constraints imposed to the manipulator ensemble. We unify previous results by showing that there exists no unique nonsqueezing load distribution and illustrate the consequences of our findings by means of several examples. In particular, the presented results provide a new perspective on the decomposition of interaction forces into internal and external components as required for cooperative multimanipulator control schemes.
引用
收藏
页码:1238 / 1243
页数:6
相关论文
共 15 条
[1]  
Alberts T., 1988, P IEEE INT C ROB AUT, V3, P1490
[2]  
BONITZ RG, 1994, IEEE INT CONF ROBOT, P1521, DOI 10.1109/ROBOT.1994.351372
[3]   Internal force-based impedance control for cooperating manipulators [J].
Bonitz, RG ;
Hsia, TC .
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996, 12 (01) :78-89
[4]   Six-DOF Impedance Control of Dual-Arm Cooperative Manipulators [J].
Caccavale, Fabrizio ;
Chiacchio, Pasquale ;
Marino, Alessandro ;
Villani, Luigi .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2008, 13 (05) :576-586
[5]   Analysis of internal loading at multiple robotic systems [J].
Chung, JH ;
Yi, BJ ;
Kim, WK .
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2005, 19 (08) :1554-1567
[6]  
Heck D, 2013, 2013 EUROPEAN CONTROL CONFERENCE (ECC), P2299
[7]   Control allocation A-survey [J].
Johansen, Tor A. ;
Fossen, Thor I. .
AUTOMATICA, 2013, 49 (05) :1087-1103
[8]  
Kuipers J. B., 1999, QUATERNIONS ROTATION, P125
[9]  
Kumar V., 1988, P IEEE INT C ROB AUT, V1, P114
[10]   A Grasping Force Optimization Algorithm for Multiarm Robots With Multifingered Hands [J].
Lippiello, Vincenzo ;
Siciliano, Bruno ;
Villani, Luigi .
IEEE TRANSACTIONS ON ROBOTICS, 2013, 29 (01) :55-67