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An adaptive hybrid control scheme for two planar manipulators handling an unknown object in an assembly process

Version 2 2024-06-06, 11:41
Version 1 2015-05-28, 15:38
conference contribution
posted on 2024-06-06, 11:41 authored by R Mohajerpoor, SM Rezaei, HA Talebi, R Monfaredi
In this paper, an adaptive hybrid force/position control architecture for a cooperative system consisting of two unknown planar manipulators grasping and manipulating an unknown rigid object is proposed. It is assumed that the object will be in contact with an environment through an assembly process. The contact force between each robot and the object is decomposed into two independent forces, one of which is for grasping the object, and the other is for motion of the object. The reduced order dynamics of the cooperative system is obtained with respect to the position of the first robot's end effector. The object's position and interaction with the environment is controlled using an adaptive hybrid control algorithm. The Lyapunov's direct method is used in design and stability analysis of the proposed controller. Simulation results, confirm the performance and effectiveness of the proposed methodology. © 2011 IEEE.

History

Pagination

835-840

Location

Shiraz, Iran

Start date

2011-12-27

End date

2011-12-29

Publication classification

E2.1 Full written paper - non-refereed / Abstract reviewed

Copyright notice

2011, IEEE

Editor/Contributor(s)

[Unknown]

Title of proceedings

ICCIA 2011 : Proceedings of the 2011 2nd International Conference on Control, Intrumentation, and Automation

Event

Iranian Society of Instrumentation and Control Engineers. Conference (2nd : 2011 : Shiraz, Iran)

Publisher

IEEE

Place of publication

Piscataway, N.J.

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