Cooperative System of Two Industrial Robots with PID Position Controllers

We propose a strategy for cooperation of multiple PID position-controlled manipulators. Free joint mechanisms are installed at the tip of each manipulator to avoid excessive inner forces due to mutual positioning errors of manipulators. Since the cooperative system has kinematic redundancy due to ad...

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Bibliographic Details
Published inTransactions of the Japan Society of Mechanical Engineers Series C Vol. 66; no. 641; pp. 153 - 158
Main Authors FUJIBAYASHI, Misuyuki, ONO, Manabu, KAGATANI, Manabu, OSUMI, Hisashi
Format Journal Article
LanguageJapanese
Published The Japan Society of Mechanical Engineers 25.01.2000
Subjects
Cooperation
Industrial Robot
Manipulator
Passive Joint
Positioning
Redundancy
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ISSN0387-5024
1884-8354
DOI10.1299/kikaic.66.153

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Summary:We propose a strategy for cooperation of multiple PID position-controlled manipulators. Free joint mechanisms are installed at the tip of each manipulator to avoid excessive inner forces due to mutual positioning errors of manipulators. Since the cooperative system has kinematic redundancy due to additional passive joints for cooperation, a way to exploit the redundant degrees of freedom is proposed based on the kinematic analysis of the cooperative system. A cooperative mechanism consisting of four passive joints with electro-magnetic brakes is developed and the effectiveness of proposed algorithm is verified by experiments using two industrial robots.
ISSN:0387-5024
1884-8354
DOI:10.1299/kikaic.66.153