Paper Info
Title
Distributed, real-time control of structurally flexible manipulators
Abstract
Parallel processing facilitates the real-time implementation of an end-effector velocity controller for elastic robotic manipulators. The approach has potential application in teleoperation. We have developed an algorithm that controls end-effector velocity of large robotic manipulators whose size-to-weight ratio renders them structurally flexible. The controller takes: desired end-effector velocity as input. It seeks to minimize the velocity tracking error in the end-effector by concentrating its effort on the end-effector while letting the manipulator's links deform. The control strategy relies on a feedforward-feedback concept, designed around an augmented model of the manipulator dynamics, which includes derivatives of the control input in addition to integrator states that minimize tracking error. We implemented the algorithm for parallel processing on a multiprocessor system. The controller's performance agrees well with computer simulations.<>
Year
DOI
Venue
1994
10.1109/88.345960
Parallel & Distributed Technology: Systems & Applications, IEEE  
Keywords
DocType
Volume
distributed control,manipulators,multiprocessing systems,parallel algorithms,real-time systems,robot programming,telerobotics,control strategy,controller performance,distributed real-time control,elastic robotic manipulators.,end-effector velocity controller,feedforward-feedback concept,integrator states,manipulator dynamics,multiprocessor system,parallel processing,real-time implementation,size-to-weight ratio,structurally flexible manipulators,tracking error,velocity tracking error
Journal
2
Issue
ISSN
Citations 
4
1063-6552
0
PageRank 
References 
Authors
0.34
5
2
Name
Order
Citations
PageRank
Manfred D. M. Sever100.34
D'Eleuterio, G.M.T.28411.83