Model predictive disturbance rejection during cooperative mobile robot assembly tasks

Detalhes bibliográficos
Autor(a) principal: Sujan,V. A.
Data de Publicação: 2004
Outros Autores: Meggiolaro,M. A.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782004000300002
Resumo: This paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by predicting environment-object contact states and motions are planned in the direction of least resistance. Issues addressed include dynamic modeling of multiple cooperative robots, control architecture design and stability analysis, and environment-object contact state prediction. Simulation results show the effectiveness of the control architecture.
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spelling Model predictive disturbance rejection during cooperative mobile robot assembly tasksCooperative robotsmodel predictive controlrobot assemblyThis paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by predicting environment-object contact states and motions are planned in the direction of least resistance. Issues addressed include dynamic modeling of multiple cooperative robots, control architecture design and stability analysis, and environment-object contact state prediction. Simulation results show the effectiveness of the control architecture.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2004-09-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782004000300002Journal of the Brazilian Society of Mechanical Sciences and Engineering v.26 n.3 2004reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782004000300002info:eu-repo/semantics/openAccessSujan,V. A.Meggiolaro,M. A.eng2004-10-07T00:00:00Zoai:scielo:S1678-58782004000300002Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2004-10-07T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv Model predictive disturbance rejection during cooperative mobile robot assembly tasks
title Model predictive disturbance rejection during cooperative mobile robot assembly tasks
spellingShingle Model predictive disturbance rejection during cooperative mobile robot assembly tasks
Sujan,V. A.
Cooperative robots
model predictive control
robot assembly
title_short Model predictive disturbance rejection during cooperative mobile robot assembly tasks
title_full Model predictive disturbance rejection during cooperative mobile robot assembly tasks
title_fullStr Model predictive disturbance rejection during cooperative mobile robot assembly tasks
title_full_unstemmed Model predictive disturbance rejection during cooperative mobile robot assembly tasks
title_sort Model predictive disturbance rejection during cooperative mobile robot assembly tasks
author Sujan,V. A.
author_facet Sujan,V. A.
Meggiolaro,M. A.
author_role author
author2 Meggiolaro,M. A.
author2_role author
dc.contributor.author.fl_str_mv Sujan,V. A.
Meggiolaro,M. A.
dc.subject.por.fl_str_mv Cooperative robots
model predictive control
robot assembly
topic Cooperative robots
model predictive control
robot assembly
description This paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by predicting environment-object contact states and motions are planned in the direction of least resistance. Issues addressed include dynamic modeling of multiple cooperative robots, control architecture design and stability analysis, and environment-object contact state prediction. Simulation results show the effectiveness of the control architecture.
publishDate 2004
dc.date.none.fl_str_mv 2004-09-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782004000300002
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782004000300002
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782004000300002
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.26 n.3 2004
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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