This paper presents the experimental validation of a self-adjusting active compliance controller for n robots handling a concerning its compliant behaviour partly unknown flexible object. The control strategy is based on the decomposition of the 6n-dimensional position/force space and includes a feedforward and feedback level. For adjusting the controller to the in general unknown flexible behaviour, which is the main problem of the controller design, a quasi-static model of the system is derived for different contact cases of the object and a procedure is presented, which by use of this model is capable of determining the compliance of the considered system and therefore of adjusting the controller. Experiments with two pumatype robots show the applicability of the self-adjusting control strategy.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object


    Beteiligte:

    Erscheinungsdatum :

    2021



    Medientyp :

    Sonstige


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Experimental Validation of a Self-Adjusting Active Compliance Controller for Multiple Robots Handling an Object

    von Albrichsfeld, C. / Tolle, H. / International Federation of Automatic Control | British Library Conference Proceedings | 1999


    Experimental Compliance Breakdown of Industrial Robots

    Demeester, F. | Online Contents | 1994


    Decentralized control of multiple mobile robots handling a single object in coordination

    Kosuge, K. / Oosumi, T. / Chiba, K. | British Library Online Contents | 1998


    Compliance Control During Cooperative Transport Using Multiple Mobile Robots

    Tatsumi, Shuichi / Murakami, Toshiyuki | British Library Conference Proceedings | 2020


    Load handling compliance

    PHILIP ANDREW TOMLINSON / DEPINDER SINGH KHELA / OLIVIER STEPHANE PRIVAT et al. | Europäisches Patentamt | 2025

    Freier Zugriff