tailieunhanh - Multi-Arm Cooperating Robots- Dynamics and Control - Zivanovic and Vukobratovic Part 3

Tham khảo tài liệu 'multi-arm cooperating robots- dynamics and control - zivanovic and vukobratovic part 3', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 26 Multi-Arm Cooperating Robots deformed etc. If we bear in mind that a cooperative system always has the number of drives at joints smaller than the number of DOFs the question is what are the quantities to be controlled and how one is to control them in order to guide the cooperative system After finding the solution to the previous task it is necessary to synthesize the logic and methodology of solving the problem of a cooperative system control. The proposed control solutions are given on the basis of a dynamic model involving unresolved uncertainty problems and are not consistent solutions of cooperative system control. A consistent solution of the law of cooperative system control is given in Chapter 6. That solution has been obtained on the basis of a model in which the problem of force uncertainty was solved Chapter 3 . 3 INTRODUCTION TO MATHEMATICAL MODELING OF COOPERATIVE SYSTEMS In this chapter we present a consistent procedure for modeling a simple cooperative system consisting of two non-redundant manipulators handling a rigid object. We explain the origin of force uncertainty and present a method to solve this problem. It is shown that the problem of force uncertainty can be solved by introducing the assumption of elasticity of the cooperative system in its part where the force uncertainty arises. The problem of modeling modeling procedure and the model itself are illustrated by a simple example. The basic problem in describing cooperative work is the determination of forces at the contact of the manipulator tip with the object and the determination of the object position on the basis of the known manipulator position and vice versa. These problems can be defined as the problems of choice of the assumptions of the system s characteristics and behavior and the problems of a reliable mathematical description of the cooperative work based on these assumptions. In the majority of papers dealing with cooperative work it is assumed that the manipulators and