Robust independent control for position motion-inducing force, and internal force of multi-robot

다중 로보트의 위치, 운동야기힘과 내부힘의 강건 독립 제어

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.