Papers Published

  1. Kumar, Manish and Garg, Devendra P., Multiple cooperating robots dynamics and fuzzy logic control for internal force minimization, Proceedings of the ASME Design Engineering Technical Conference, vol. 5 B (2003), pp. 1697 - 1704 .
    (last updated on 2007/04/10)

    Abstract:
    This paper presents formulation and application of a strategy for control of two six degree-of-freedom robots carrying a common object in a cooperative mode. The paper focuses on control of internal forces that are generated when two or more robots carry an object in coordination. A combined position-force control scheme based on fuzzy logic is proposed. The controller scheme developed has been implemented successfully on two six degree-of-freedom ABB industrial robots. The simulations and the experiments performed demonstrate that the proposed control strategy is able to considerably decrease the internal forces.

    Keywords:
    Degrees of freedom (mechanics);Manipulators;Synchronization;Sensors;Kinematics;Torque;Fuzzy sets;Problem solving;Computer simulation;