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Efficient control of a mobile-task robotic system

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6 Author(s)
Lee, J.M. ; Dept. of Electr. Eng., Pusan Nat. Univ., South Korea ; Lee, M.C. ; Son, K. ; Ahn, D.S.
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The control of a mobile-task robot is implemented with the suitable-decoupling of the dynamic interactions between two local robots, i.e., a task robot and a mobile robot. The mobile-task robot is a redundant robot formed by the serial connection of the two robots, and it is suitable for the multiple task execution without any constraints on the workspace. The decoupling process can be initiated when the motions and static forces required for each robot are described explicitly. In this paper, the authors demonstrate the performance of a redundant robot system controlled by two independent controllers which are cooperating to achieve a common task. By using the two independent controllers, one can achieve a task assigned at the end of the task robot with high speed and high precision. One typical example of task distribution is that fast and rough motions are mainly assigned to the mobile robot, while slow and accurate motions to the task robot. Forming a redundant manipulator through the serial connection of two robots, decoupling the dynamics of the two robots through the task distribution and controlling each of the local robot by an independent controller is a new approach for the design/control of high performance robotic systems

Published in:

American Control Conference, Proceedings of the 1995  (Volume:4 )

Date of Conference:

21-23 Jun 1995