Decentralized Variable Structure Control of a Two-Arm Robotic System.
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| Title: | Decentralized Variable Structure Control of a Two-Arm Robotic System. |
|---|---|
| Authors: | Ozgüner, Ü.1, Yurkovich, S.1, Al-Abbass, F.1 |
| Source: | Journal of Robotic Systems. Jun87, Vol. 4 Issue 3, p377-395. 19p. |
| Subjects: | Manipulators (Machinery), Links & link-motion, Robot control systems, Universal joints, Orienting mechanisms (Manufacturing), Mechanical movements, Systems engineering, Industrial robots |
| Abstract: | The control problem for a two-arm robotic system in coordinated motion is addressed. A hierarchical framework, employing two levels of control hierarchy, is utilized, and the decentralized model reference adaptive control approach using variable structure controllers (DMRA-VSC) is applied. Within the control hierarchy, the DMRA-VSC strategy is accomplished at the lower level, where control is responsible for the servoing of each joint. These local controllers are coordinated by the high-level, central controller, whose task is to provide the local controllers with the upper bound on the dynamical interactions with other subsystems. The local controllers are responsible for making each link follow the prescribed local reference subsystem in moving from one position to another. This is done using the local measurements and the information provided by the central controller. Advantages of the DMRA-VSC approach for multiple manipulator control include the inherent robustness properties to nonlinearities and interaction effects, the decentralization structure facilitating ease in multiple manipulator system programming and implementation, and the general structure of the controller which allows further extensions such as force feedback. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Robotic Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 13355567 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Decentralized Variable Structure Control of a Two-Arm Robotic System. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Ozgüner%2C+Ü%2E%22">Ozgüner, Ü.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Yurkovich%2C+S%2E%22">Yurkovich, S.</searchLink><relatesTo>1</relatesTo><br /><searchLink fieldCode="AR" term="%22Al-Abbass%2C+F%2E%22">Al-Abbass, F.</searchLink><relatesTo>1</relatesTo> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Robotic+Systems%22">Journal of Robotic Systems</searchLink>. Jun87, Vol. 4 Issue 3, p377-395. 19p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Links+%26+link-motion%22">Links & link-motion</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Universal+joints%22">Universal joints</searchLink><br /><searchLink fieldCode="DE" term="%22Orienting+mechanisms+%28Manufacturing%29%22">Orienting mechanisms (Manufacturing)</searchLink><br /><searchLink fieldCode="DE" term="%22Mechanical+movements%22">Mechanical movements</searchLink><br /><searchLink fieldCode="DE" term="%22Systems+engineering%22">Systems engineering</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: The control problem for a two-arm robotic system in coordinated motion is addressed. A hierarchical framework, employing two levels of control hierarchy, is utilized, and the decentralized model reference adaptive control approach using variable structure controllers (DMRA-VSC) is applied. Within the control hierarchy, the DMRA-VSC strategy is accomplished at the lower level, where control is responsible for the servoing of each joint. These local controllers are coordinated by the high-level, central controller, whose task is to provide the local controllers with the upper bound on the dynamical interactions with other subsystems. The local controllers are responsible for making each link follow the prescribed local reference subsystem in moving from one position to another. This is done using the local measurements and the information provided by the central controller. Advantages of the DMRA-VSC approach for multiple manipulator control include the inherent robustness properties to nonlinearities and interaction effects, the decentralization structure facilitating ease in multiple manipulator system programming and implementation, and the general structure of the controller which allows further extensions such as force feedback. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Robotic Systems is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 19 StartPage: 377 Subjects: – SubjectFull: Manipulators (Machinery) Type: general – SubjectFull: Links & link-motion Type: general – SubjectFull: Robot control systems Type: general – SubjectFull: Universal joints Type: general – SubjectFull: Orienting mechanisms (Manufacturing) Type: general – SubjectFull: Mechanical movements Type: general – SubjectFull: Systems engineering Type: general – SubjectFull: Industrial robots Type: general Titles: – TitleFull: Decentralized Variable Structure Control of a Two-Arm Robotic System. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Ozgüner, Ü. – PersonEntity: Name: NameFull: Yurkovich, S. – PersonEntity: Name: NameFull: Al-Abbass, F. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 06 Text: Jun87 Type: published Y: 1987 Identifiers: – Type: issn-print Value: 07412223 Numbering: – Type: volume Value: 4 – Type: issue Value: 3 Titles: – TitleFull: Journal of Robotic Systems Type: main |
| ResultId | 1 |
