A novel force-velocity field for object manipulation with a model-free cooperative controller

abstract

• When robots grasp a rigid object, homogeneous holonomic constraints give rise to stiff nonlinear constrained dynamics. As a result, a smooth motion is preferred when grasping an object in a tight but gentle manner, making it a difficult control problem that increases when uncertainties and unmodelled dynamics exist. In this paper, a fuzzy design is proposed by exploiting a physics-based orthogonalization of contact mechanics to produce desired velocity and force fields. The proposed scheme enables the regulation of the velocity component in order to navigate smoothly, while the force field enforces grasp at contact in the normal direction of the cooperative joint-velocity field. Then, the robust model-free controller is designed to track such orthogonal fields while enforcing cooperation among all robots, even under uncertainties and unknown dynamics. A representative simulation study is discussed to show the feasibility of the proposal.

authors

• Munoz Vazquez, Aldo Jonathan

published proceedings

• TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL

author list (cited authors)

• Munoz-Vazquez, A., Parra-Vega, V., Sanchez-Orta, A., & Ruiz-Sanchez, F.

complete list of authors

• Munoz-Vazquez, Aldo-Jonathan||Parra-Vega, Vicente||Sanchez-Orta, Anand||Ruiz-Sanchez, Francisco

publisher

• SAGE Publications  Publisher

published in

• Transactions of the Institute of Measurement and Control  Journal

keywords

• Cooperative Robot Manipulators
• Force-velocity Field Control
• Fuzzy Logic Control
• Robust Robot Control

Digital Object Identifier (DOI)

• 10.1177/0142331218762272

start page

• 573

end page

• 581

volume

• 41

issue

• 2