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Title: A review of a method for dynamic load distribution, dynamic modeling, and explicit internal force control when two serial link manipulators mutually lift and transport a rigid body object

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control andmore » internal force control of the system.« less
Authors:
Publication Date:
OSTI Identifier:
631259
Report Number(s):
ORNL/TM--13429
ON: DE98003760; TRN: 98:007021
DOE Contract Number:
AC05-96OR22464
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: Sep 1997
Research Org:
Oak Ridge National Lab., TN (United States)
Sponsoring Org:
USDOE Office of Energy Research, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; MANIPULATORS; ROBOTS; MATHEMATICAL MODELS; CONTROL; POSITIONING; MOTION; DYNAMICS