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In this study, a Modified Transpose Jacobian (MTJ) control algorithm for object manipulation by two humanoid robots was designed. Such cooperative humanoid robots typically are employed in hazardous situation such as radioactive materials transport explosive disposal and industrial applications. In the present paper, a high performance and robust controller was developed for the safe load handling,...
Flexible members such as solar panels of space robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object...
A new control algorithm for an object manipulation task by a wheeled mobile robotic system with flexible members is studied here. Flexible members such as solar panels of wheeled mobile robotic systems and their flexible joints during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which...
Flexible members such as solar panels of space robotic systems during a maneuver may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn produces error in the position and speed of the manipulating end-effectors, which should be prevented. In this paper, a new control algorithm for an object...
Dynamics and control of a space robotic system with flexible members during an object manipulation task is studied here. Flexible members such as solar panels of space free flying robotic systems and their flexible joints during a manoeuvre may get stimulated and vibrate. Therefore, such vibrations will cause some oscillatory disturbance forces on the moving base and manipulated object, which in turn...
Control of the humanoid robots requires appropriate gait planning that satisfies stable walking. In this study, a Modified Transpose Jacobian (MTJ) control algorithm for object manipulation by two humanoid robots is developed. Such cooperative humanoid robots may typically get employed in hazardous situation and industrial applications. In the present paper, a high performance and robust controller...
In this paper, a new Multiple Aspect Grasp (MAG) performance index is presented for evaluating grasp quality for object manipulation tasks. The position of contact points, the configuration of cooperative manipulators, and the kinetics aspects of manipulators and the manipulated object are taken into account by the proposed MAG index. The MAG index is used to evaluate the candidate grasp points, selecting...
Impedance Control imposes a desired behavior on a single manipulator interacting with its environment. The Multiple Impedance Control (MIC) enforces a designated impedance on both a manipulated object, and all cooperating manipulators. Similar to the standard impedance control, one of the benefits of this algorithm is the ability to perform both free motions and contact tasks without switching control...
The multiple impedance control (MIC) enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. A redundant manipulator exploits more degrees of freedom than those required to achieve the desired position and orientation of the end-effector. In this paper, the MIC law is extended to control cooperative redundant manipulators in the presence of impacts due to...
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