CASIA OpenIR
Coordinated Motion Planning of Independent Manipulators in Precision Manipulation
Xing, Dengpeng1,2; Liu, Fangfang1,2; Xu, De1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
ISSN1551-3203
2020-11-01
Volume16Issue:11Pages:6933-6942
Abstract

This article investigates the coordinated motion planning of independent manipulators in the domain of precision manipulation, where forces are considered in the level of tens or hundreds of milliNewtons. Independent manipulating is crucial in randomly combining robot arms to temporarily fulfill certain tasks. We study the cases where a part of task information is known to each manipulator and yet no communication exists between them. In the coordinated structure, the leading manipulator plans its movement according to the desired state and its evaluation of the object force. The follower needs to compensate for the offset errors, estimate the intention of the leader, evaluate its confidence on the estimation, and plan its movement accordingly. The handling of special states, i.e., zero force feedback, is also discussed. Experiments are carried out to demonstrate the validation of the proposed method.

KeywordManipulators Force Estimation Task analysis Planning Robot kinematics Coordinated operation independent movement planning intention estimation
DOI10.1109/TII.2020.2973716
WOS KeywordROBOT ; SYSTEMS
Indexed BySCI
Language英语
Funding ProjectNational Nature Science Foundation of China[61673382] ; National Nature Science Foundation of China[61733004]
Funding OrganizationNational Nature Science Foundation of China
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering
WOS SubjectAutomation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS IDWOS:000554904700019
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/40299
Collection中国科学院自动化研究所
Corresponding AuthorLiu, Fangfang
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100190, Peoples R China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xing, Dengpeng,Liu, Fangfang,Xu, De. Coordinated Motion Planning of Independent Manipulators in Precision Manipulation[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2020,16(11):6933-6942.
APA Xing, Dengpeng,Liu, Fangfang,&Xu, De.(2020).Coordinated Motion Planning of Independent Manipulators in Precision Manipulation.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,16(11),6933-6942.
MLA Xing, Dengpeng,et al."Coordinated Motion Planning of Independent Manipulators in Precision Manipulation".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 16.11(2020):6933-6942.
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