Control Algorithm for a Cooperative Robotic System in Fault Conditions

Viorel Stoian, Eugen Bobasu

2015

Abstract

This paper expounds a control procedure and a control algorithm with two levels to solve the control problem of a cooperating multi-arm robotic system. This system is composed of a structure like a gripper with n fingers manipulating a usual object. The control system is a hierarchical system. The problems of the inter-coordination and the force distribution are decided by the top tier coordinator which brings together all the appropriate information. This information is directed towards the n inferior level subsystems. The local control is solved by assigning the local controllers based on the inverse model method. The robotic structure is either in a correct position when possible, or by minimising the movements and using the adequate commands to the functional joints, in an acceptable proximity position of the desired co-ordinates. It is also proposed a synthesis of the commands. The paper presents a workspace analysis and an algorithm for the actuators in the terms of a good working for finding the optimal motions by blocking or unblocking some robotic joints.

Paper Citation

in Harvard Style

Stoian V. and Bobasu E. (2015). Control Algorithm for a Cooperative Robotic System in Fault Conditions . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 281-288. DOI: 10.5220/0005538402810288

in Bibtex Style

@conference{icinco15,
author={Viorel Stoian and Eugen Bobasu},
title={Control Algorithm for a Cooperative Robotic System in Fault Conditions},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={281-288},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005538402810288},
isbn={978-989-758-123-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Control Algorithm for a Cooperative Robotic System in Fault Conditions
SN - 978-989-758-123-6
AU - Stoian V.
AU - Bobasu E.
PY - 2015
SP - 281
EP - 288
DO - 10.5220/0005538402810288