Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Coordinated Control of a Macro/Micro Robot with Separate Controllers

제어기가 분리 설계된 매크로/마이크로 로봇의 공동작용 제어

  • 황정훈 (한국과학기술원 기계공학과) ;
  • 권동수 (한구과학기술원 기계공학과)
  • Published : 2000.03.01
Download PDF
⟨ Previous Next ⟩

Abstract

A coordination method for a macro/micro robot with separate controllers is proposed and evaluated. The macro/micro robot system generally has independent controllers for the macro and the micro robot respectively. A controller for the coordination of the macro and the micro robot has been designed based on the stable independent controller of each system. The method and trajectory generation method is also proposed to track the moving desired position rapidly. The control method and trajectory generation method is also proposed to track the moving desired position rapidly. The control strategy has been implemented to the macro/micron robot system to evaluate the performance. The experimental results show that the proposed method for maintaining the micro robot within its workspace has uniform performance over the various range of the bandwidth and the proposed trajectory generator is shown to be efficient.

Keywords

References

  1. Khatib, O., 'Augmented object and reduced effective inertia in robot systems,' Proc. of the 1988 American Control Conference, pp. 2140-2147, 1988 https://doi.org/10.1109/ACC.1988.4173101
  2. Khatib, O., 'The operational space framework,' JSME International Journal, pp. 227-287, 1993
  3. Khatib, O. and Bowling, A., 'Optimization of the inertial and acceleration characteristics of manipulators,' Proc. of the IEEE/R&A, pp. 2883-2889, 1996 https://doi.org/10.1109/ROBOT.1996.509150
  4. Kosuge, K., Seki, H. and Oosumi, T., 'Calibration of coordinate system for decentralized coordinated motion control of multiple manipulators,' Proc. IEEE Conf. R&A, pp. 3297-3302, 1998 https://doi.org/10.1109/ROBOT.1998.680947
  5. Lew, J. Y., 'Contact control of flexible micro/macro-manipulators,' Proc. of the IEEE/R&A, pp. 2850-2855, 1997 https://doi.org/10.1109/ROBOT.1997.606719
  6. Nagai, K. and Yoshikawa, T., 'Impedance control of redundant macro-micro manipulators,' Proc. of the IEEE/RSJ, pp. 1438-1445, 1994 https://doi.org/10.1109/IROS.1994.407498
  7. Reboulet, C. and Pigeyre, R., 'Hybrid control of a 6-DOF in-parallel actuated micro-manipulator mounted on a scara robot,' International Journal of Robotics and Automation vol. 7, no. 1, pp. 10-14, 1992
  8. Sharon, A., Hogan, N., and Hardt, D. E., 'The macro/micro manipulator an improved architecture for robot control,' Robotics & Computer Integrated Manufacturing, vol. 10, no. 3, pp. 209-222, 1993 https://doi.org/10.1016/0736-5845(93)90056-P
  9. Sharon, A., Hogan, N, and Hardt, D. E., 'High bandwidth force regulation and inertia reduction using a macro/micro manipulation system,' Proc. IEEE Conf. R&A, pp. 126-132, 1988 https://doi.org/10.1109/ROBOT.1988.12036
  10. Sharon, A., Hogan, N. and Hardt, D. E., 'Controller design in the physical domain,' Proc. IEEE Conf. R&A, pp. 552-559, 1989 https://doi.org/10.1109/ROBOT.1989.100043
  11. Tarn, T. J., Bejczy, A. K. and Yun, X., 'Coordinated control of two robot arms,' Proc. IEEE Int. Conf. R&A, pp 1193-1202, 1986
  12. Yoshikawa,T, Hosoda, K., Harada, K., Matsumoto, A. and Murakami, H, 'Hybrid position/force control of flexible manipulators by macro/micro manipulator system,' Proc. of the IEEE/R&A, pp. 2125-2130, 1994 https://doi.org/10.1109/ROBOT.1994.350968
  13. 송세경, '미세수술을 위한 6자유도 병렬 매니퓰레이터의 디자인,' masters thesis, KAIST, 1997
  14. 송세경, 권동수, '정밀작업용 6자유도 병렬 머니퓰레이터의 기구학 해석,' 한국자동제어 학술회의, pp. 1787-1790, 1998
  15. 삼성전자, 'Faraman-AS1 모듈형 소형수직다관절로봇-로봇본체 유지보수 설명서,' 삼성전자, 1997