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Several consistent solutions for cooperative system control have recently been identified by the authors of the current monograph. This was achieved by solving three separate tasks that are essential for solving the problem of cooperative manipulation as a whole. The first task is related to the understanding of the physical nature of cooperative m...
Citations
... For many operations such as transportation, assembly, maintenance and processing of complex parts, single redundant manipulators may not be competent due to the limitations of their load-bearing capacity, workspace and application range. Therefore, coordination operations of dual redundant manipulators have attracted extensive attention [6][7][8]. ...
There are closed-chain constraints between the left manipulator and the right manipulator in tight coordination of the dual redundant manipulator. The existing planning algorithms suitable for loose coordination cannot be directly applied to tight coordination, as the planned path cannot satisfy the closed-chain constraints. To solve the above problem, a master-slave planning method based on bidirectional RRT* is proposed for dual redundant manipulators. Bidirectional RRT* is adopted to plan the path of the master manipulator. The path of the slave manipulator is calculated by terminal generalized velocity constraints instead of terminal position and posture constraints. Moreover, a local path replanning strategy is proposed to solve the problem that the planned path is actually not feasible due to the discontinuous joint path of the slave manipulator. The joint self-motion in the null space is utilized to keep the terminal position and posture of the slave manipulator unchanged. The proposed method is verified by simulations and experiments and the results show that it can solve the discontinuity problem, increase the success rate, shorten the planning time and satisfy closed-chain constraints. Therefore, the proposed method can be feasibly and effectively applied to the tight coordination of dual redundant manipulators.
The problem of designing an event-triggered guaranteed cost controller for uncertain polytopic fractional-order systems subject to unknown time-varying delays is investigated in this paper. An event-triggered guaranteed cost controller is designed, and sufficient conditions for the existence of an event-triggered guaranteed cost state-feedback control for the considered systems are established. We provide a numerical example to demonstrate the effectiveness of the proposed method.
This article deals with the problem of finite time guaranteed cost control for uncertain polytopic fractional‐order systems with time‐varying delays. A linear quadratic cost function is considered as a performance measure for the closed‐loop system. By using Laplace transform and linear matrix inequalities (LMIs), a guaranteed cost controller design is presented and sufficient conditions for the existence of a finite time guaranteed cost state‐feedback control for the system are given in terms of LMIs. Two numerical examples are given to illustrate the effectiveness of the obtained result.
This paper deals with the problems of finite-time boundedness (FTB) and H∞ FTB for time-delay Markovian jump systems with a partially unknown transition rate. First of all, sufficient conditions are provided, ensuring the FTB and H∞ FTB of systems given by linear matrix inequalities (LMIs). A new type of partially delay-dependent controller (PDDC) is designed so that the resulting closed-loop systems are finite-time bounded and satisfy a given H∞ disturbance attenuation level. The PDDC contains both non-time-delay and time-delay states, though not happening at the same time, which is related to the probability distribution of the Bernoulli variable. Furthermore, the PDDC is extended to two other cases; one does not contain the Bernoulli variable, and the other experiences a disordering phenomenon. Finally, three numerical examples are used to show the effectiveness of the proposed approaches.
A new modular relative Jacobian formulation for
single end-effector control of combined 3-arm cooperating par-
allel manipulators is derived. It is based on a previous method
of derivation for dual-arm robots, with the same approach
of modularity and single end-effector control for combined
manipulators. This paper will present this new formulation, as
well as investigate task prioritization scheme to verify the claim
that a single end-effector controller of combined manipulators
will indeed implement a strict task prioritization, by intentionally
adding more tasks. In addition, this paper will investigate a claim
that the holistic approach to control of combined manipulators
affords easier control coordination of each of the stand-alone
components. Switching control from an individual manipulator
control in the null space to relative control in the tasks space is
shown to investigate the smoothness of task execution during
switching. Simulation results using Gazebo 2.2.5 running in
Ubuntu 14.04 is shown.
