Post on 02-Jan-2016
description
Multirobot ManipulationMultirobot Manipulation
Ramon Costa CastellóRamon Costa CastellóInstitut d’Organització i Control de Sistemes Institut d’Organització i Control de Sistemes
Industrials (IOC)Industrials (IOC)
Universitat Politècnica de Catalunya Universitat Politècnica de Catalunya (UPC)(UPC)
IntroductionIntroduction
MotivationsMotivations
Multirobot Manipulation Multirobot Manipulation
AdvantagesAdvantages Load Capacity IncreaseLoad Capacity Increase
Dexterity ImprovementDexterity Improvement
Flexible ObjectsFlexible Objects
Environment
Dynamics and kinematics
Low level control loop
Path Planning
Trajectory Planning
Adaptation
Workspace
force
Robot Robot System System
ProgramminProgrammingg
Positionvelocity
path
trajectory
Experimental ConstraintsExperimental Constraints
Position controlled Position controlled ManipulatorsManipulators
Force SensorsForce Sensors
Rigid ObjectsRigid Objects
Rigid GraspingRigid GraspingR(z)Hd H
Experimental SetupExperimental Setup Experimental Setup: Experimental Setup: Work cell Work cell
composed by two RX-90 Stäubli composed by two RX-90 Stäubli manipulators (in ALTER mode), each manipulators (in ALTER mode), each manipulator having a JR3 force sensor on manipulator having a JR3 force sensor on its wristits wrist
RX-90 RX-90 JR3 JR3
PC-QNX
ISA BUS
Serial Line Controller
Internal ForcesInternal Forces Coordinated Manipulation Coordinated Manipulation
may apply undesired may apply undesired forces over manipulated forces over manipulated objectobject
Internal forces sourcesInternal forces sources inaccurate modellinginaccurate modelling lack of synchronizationlack of synchronization
GoalGoal Keep internal forces under Keep internal forces under
controlcontrol Desired load distributionDesired load distribution
Classical ApproachesClassical Approaches
Environm
ent
Robot i
control
Robot j
Environm
ent
Robot i
control
Robot j
control
Hybrid Control•Force-position Decomposition•Centralized approach•Structured Environments•Explicit Control
Impedance behaviour•Relation Between force and position•Decentralized approach•Unstructured environments•Implicit Control
Workspace ReductionWorkspace Reduction
Kinematics Kinematics Constraints Reduce Constraints Reduce Multirobot Workspace Multirobot Workspace (only on cooperative (only on cooperative manipulation).manipulation).
Workspace defined Workspace defined by implicit equations.by implicit equations.
Detailed TopicsDetailed Topics
Workspace Analysis ResultsWorkspace Analysis Results Hybrid Control ResultsHybrid Control Results Impedance Control ResultsImpedance Control Results