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In the field of robotic applications based on the coordinated motion of two manipulators, it seems that very few control schemes work efficiently. The best way to achieve the simultaneous control of object trajectory and forces applied to it, is to implement control schemes that are extended versions of one arm hybrid force'position control. The aim of this paper is not to review all existing solutions but rather to analyze and compare them from simulation results with a new solution presented here. The control scheme is an application of the one arm hybrid external control that we had previously developed. The main results of this theory are summarized in this paper. This radically new approach for a cooperation task has some advantages compared to other methods mentioned in this paper.
Many robotic tasks require the end-effector to come into contact with the external environment. In such complex tasks, the manipulator is constrained by the environment, and certain DOFs are lost for motion. The contact forces must be controlled in constraint directions, while the tip position is simultaneously controlled in the free directions.
In this paper, a very inexpensive, lightweight and simple wrist mechanism is introduced. This wrist displays nonlinear torsional vibrations. This differs from conventional wrists in that structural flexibility in the mechanism is allowed to occur by design. In this paper, the dynamic equations of this wrist are derived. System identification techniques are then employed to obtain a linearized model. Various control strategies are studied. It is shown that the input-output feedback linearization technique is not feasible for these nonlinear dynamic equations. It is also shown that the use of conventional rigid body PID controllers on this proto-type is inadequate. A tracking controller which compensates for the flexible dynamics of the wrist is implemented with encouraging results. This controller allows the end-effector to be placed at an arbitrary orientation with little vibration. The effect of the controller is to make the wrist appear to have a much higher structural stiffness. The compliant nature of this wrist allows simple force control strategies to be implemented. It is the combination of the wrist with the control algorithm which makes this design viable.
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