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A Multi-Priority Controller for Industrial Macro-Micro Manipulation

Published online by Cambridge University Press:  19 May 2020

Emre Uzunoğlu Open the ORCID record for Emre Uzunoğlu [Opens in a new window] ,
Enver Tatlicioğlu  and
Mehmet İ. Can Dede
Emre Uzunoğlu*
Affiliation:
Department of Mechanical Engineering, Izmir Institute of Technology, Izmir, Turkey, E-mail: candede@iyte.edu.tr
Enver Tatlicioğlu
Affiliation:
Department of Electrical and Electronics Engineering, Izmir Institute of Technology, Izmir, Turkey, E-mail: envertatlicioglu@iyte.edu.tr
Mehmet İ. Can Dede
Affiliation:
Department of Mechanical Engineering, Izmir Institute of Technology, Izmir, Turkey, E-mail: candede@iyte.edu.tr
*
*Corresponding author. E-mail: emreuzunoglu@iyte.edu.tr
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Summary

In this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared.

Keywords

Redundant manipulatorsRobot dynamicsControl of robotic systemsMacro-micro manipulationMulti-priority controlComputed torque control
Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021 , pp. 217 - 232
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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