Reactionless Control for two Manipulators Mounted on a Cable-Suspended Platform

— The dynamics and control of a cable-suspended, two-arm robotic system are developed for an entertainment application. One manipulator arm is controlled to fulfill a user defined task. The second arm is then controlled to compensate for the disturbances on the cable-suspended platform arising from the motion of the first. Model-based feedforward control, stemming from the momentum conservation equations of a free-floating robot, is developed for the motion compensation problem. Furthermore, due to model uncertainty, sensor-based feedback control is introduced, to account for undesired oscillatory motions of the system. The latter control problem reduces to the dissipation of the oscillatory energy of the system, by means of adequate robot control. Both control methods are implemented and tested on an experimental set-up.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Roberto Lampariello, Johann Heindl, Ralf Koeppe, Gerd Hirzinger
• Keywords: IROS 2006, Model-based Feedforward Control, Robotics, Sensor-based Feedback Control, Undesired Oscillatory Motions