Control and simulation for a closed‐chain dual redundant ' manipulator system

Fan-Tien Cheng, Jou‐Jye ‐J Lee, Tsing‐hua, Chen Fan‐Chu Kung

研究成果: Article

14 引文 斯高帕斯(Scopus)


The two‐level hierarchical control scheme is adopted to solve a dual‐chain robotic system formed by two redundant manipulators grasping a common object with hard point contacts. The upper‐level coordinator gathers all the necessary information to resolve the force distribution problem so as to generate all the desired contact forces With all the desired contact forces being specified, the dynamics of each chain are decoupled. Therefore, the lower‐level local control problem can be treated as a general open‐chain redundant manipulator problem. Furthermore, the Compact‐Dual LP method is applied to resolve the upper‐level coordination problem; while the Compact QP method associated with the computed torque control method is adopted to solve the redundant manipulator problem. To obtain proper simulation results, the simulated actual contact forces are formulated and the corresponding simulation problem of the closed‐chain robotic system is also completely solved in the article. Simulation results show that the two‐level hierarchical control scheme is an effective and efficient algorithm for resolving the large‐scale control problem of multiple‐chain robotic systems. © 1995 John Wiley & Sons, Inc.

頁(從 - 到)119-133
期刊Journal of Robotic Systems
出版狀態Published - 1995 一月 1


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering