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Multirobot Manipulation Ramon Costa Castelló Institut d’Organització i Control de Sistemes Industrials (IOC) Universitat Politècnica de Catalunya (UPC)

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Presentation on theme: "Multirobot Manipulation Ramon Costa Castelló Institut d’Organització i Control de Sistemes Industrials (IOC) Universitat Politècnica de Catalunya (UPC)"— Presentation transcript:

1 Multirobot Manipulation Ramon Costa Castelló Institut d’Organització i Control de Sistemes Industrials (IOC) Universitat Politècnica de Catalunya (UPC)

2 Introduction

3 Motivations Multirobot Manipulation Advantages Multirobot Manipulation Advantages Load Capacity Increase Load Capacity Increase Dexterity Improvement Dexterity Improvement Flexible Objects Flexible Objects

4 Environment Dynamics and kinematics Low level control loop Path Planning Trajectory Planning Adaptation Workspace force Robot System Programming Position velocity path trajectory

5 Experimental Constraints Position controlled Manipulators Position controlled Manipulators Force Sensors Force Sensors Rigid Objects Rigid Objects Rigid Grasping Rigid Grasping R(z) Hd H

6 Experimental Setup Experimental Setup: Work cell composed by two RX-90 Stäubli manipulators (in ALTER mode), each manipulator having a JR3 force sensor on its wrist Experimental Setup: Work cell composed by two RX-90 Stäubli manipulators (in ALTER mode), each manipulator having a JR3 force sensor on its wrist RX-90 JR3 PC-QNX ISA BUS Serial Line Controller

7 Internal Forces Coordinated Manipulation may apply undesired forces over manipulated object Coordinated Manipulation may apply undesired forces over manipulated object Internal forces sources Internal forces sources inaccurate modelling inaccurate modelling lack of synchronization lack of synchronization Goal Goal Keep internal forces under control Keep internal forces under control Desired load distribution Desired load distribution

8 Classical Approaches Environment Robot i control Robot j Environment Robot i control Robot j control Hybrid Control Force-position Decomposition Centralized approach Structured Environments Explicit Control Impedance behaviour Relation Between force and position Decentralized approach Unstructured environments Implicit Control

9 Workspace Reduction Kinematics Constraints Reduce Multirobot Workspace (only on cooperative manipulation). Kinematics Constraints Reduce Multirobot Workspace (only on cooperative manipulation). Workspace defined by implicit equations. Workspace defined by implicit equations.

10 Detailed Topics Workspace Analysis Results Workspace Analysis Results Workspace Analysis Results Workspace Analysis Results Hybrid Control Results Hybrid Control Results Hybrid Control Results Hybrid Control Results Impedance Control Results Impedance Control Results Impedance Control Results Impedance Control Results


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