Hossein Bolandi and Amir F. Ehyaei
Hybrid control, cooperative transportation, closed kinematic chains, velocity observer, singularly perturbed model
In this paper, hybrid position/force control of a dual manipulator system has been presented for transporting a common rigid payload. In order to reduce the differential–algebraic dynamic equations of the system to a set of ordinary differential equations, we propose a decentralized version of a recently developed singularly perturbed formulation (SPF). As such, the controller does not rely on solving nonlinear algebraic constraints and is more applicable to real-time implementation. A force control method, which is based on a load sharing algorithm with the capability of shared joint torque distribution, has been developed to control the amount of stress in the object. The proposed position/force controller is independent of the object dynamics which makes it suitable for a large variety of cooperative tasks. A velocity observer is also designed with the aim of eliminating velocity measurements that minimizes the number of required sensors. Finally, stability of the overall system is proved by using suitable Lyapunov functions. Simulation results illustrate the effectiveness of the said approach.
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