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https://hdl.handle.net/11147/7819
Title: | A multi-priority controller for industrial macro-micro manipulation | Authors: | Uzunoğlu, Emre Tatlıcıoğlu, Enver Dede, Mehmet İsmet Can |
Keywords: | Computed torque control Control of robotic systems Macro-micro manipulation Multi-priority control Redundant manipulators Robot dynamics |
Publisher: | Cambridge University Press | Abstract: | In this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared. Copyright © The Author(s), 2020. Published by Cambridge University Press. | URI: | https://doi.org/10.1017/S0263574720000338 https://hdl.handle.net/11147/7819 |
ISSN: | 0263-5747 1469-8668 |
Appears in Collections: | Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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