Oct 2026· International Conference on Robots and Multi-Agent Systems· Vol 14503, pp. 1450308 - 1450308-8· 0 citations· 19 references
Engineering
TL;DR
This paper proposes a unified kinematic and dynamic model for the collaborative control of multi-manipulator systems that directly integrates the kinematic constraints of collaborative tasks with dynamically feasible control requirements.
Abstract
This paper proposes a unified kinematic and dynamic model for the collaborative control of multi-manipulator systems. Addressing the common limitation of treating kinematics and dynamics as isolated problems, the proposed approach directly integrates the kinematic constraints of collaborative tasks with dynamically feasible control requirements. To maintain real-time computational efficiency, the framework incorporates a fuzzy logic-based adaptive tuning mechanism. This mechanism continuously adjusts the convergence gain based on the composite tracking and distance errors, along with their rates of change. Consequently, the system exhibits markedly improved convergence performance. These improvements are validated through simulations of a dualmanipulator collaborative transport task.
This thesis investigates advanced modeling and control strategies for robotic manipulators, focusing on the DLR-HIT II robotic hand and the KUKA LBR iiwa. It presents three core contributions that integrate simulation, model-based control, and data-driven methods to improve torque and position control under uncertainti...
A new control scheme is presented in this work for robotic manipulators with model inaccuracies and external disturbances. The strategy is designed in two stages. First, a nonlinear controller is designed on the basis of the nominal system model to satisfy prescribed trajectory-tracking constraints. This controller is...
Xiao-Ying Ye, Hao You, Hong Ge et al.· International Conference on...· 0 citations
Cable-driven manipulators have garnered increasing attention in robotics owing to their lightweight structure, flexible transmission mechanisms, and large operational workspace. However, the strong nonlinear dynamics, parameter coupling, and external disturbances inherent in cable-driven systems pose significant challe...
Jian-Hao Chai, Wei-Cai Quan, Xuan-Ming Tang et al.· Proceedings of the Instituti...· 0 citations
Dual-arm robots have broad application prospects in numerous engineering applications due to their outstanding collaborative operation capabilities and task diversity. As the accuracy requirements for collaborative operations continue to increase, simplifying modeling and control structures while ensuring control effec...
Ji-Fan Yang, Shuo Li, Xi-Yuan Zhang et al.· IEEE Transactions on Automat...· 0 citations
Concentrating on various types of grasped objects, this work presents a distributed coordinated control scheme for a dual-arm reconfigurable manipulator (DRM) via adaptive dynamic programming (ADP) via adaptive dynamic programming (ADP).
Ze-Bin Ji, Yi Qin, Qiang Pan et al.· Frontiers in Robotics and AI· 0 citations
Robotic manipulators play a critical role in modern automation, enabling precise, complex, and repetitive tasks across industrial, agricultural, and service applications. This paper presents the design and simulation of a 4-DoF robotic manipulator using MATLAB and Simulink, integrating forward and inverse kinematics fo...
Rakesh M. D., Rajath S. R., Rudraswamy S. B.· Acta Mechanica et Automatica· 0 citations
We use cookies to run the site and, with your consent, for analytics and to show ads.
See our Cookie Policy.
