Model predictive disturbance rejection during cooperative mobile robot assembly tasks
Título del documento: Model predictive disturbance rejection during cooperative mobile robot assembly tasks
Revista: Journal of the Brazilian Society of Mechanical Sciences and Engineering
Base de datos: PERIÓDICA
Número de sistema: 000312218
ISSN: 1678-5878
Autores: 1
2
Instituciones: 1Cummins Engine Company Air, Handling and Combustion Control Division, Columbus, Ohio. Estados Unidos de América
2Pontificia Universidade Catolica do Rio de Janeiro, Departamento de Engenharia Mecanica, Rio de Janeiro. Brasil
Año:
Periodo: Jul-Sep
Volumen: 26
Número: 3
Paginación: 260-268
País: Brasil
Idioma: Inglés
Tipo de documento: Artículo
Enfoque: Experimental
Resumen en inglés This paper addresses the problem of disturbance compensation for the successful assembly of structures by mobile field robots. A control architecture, consisting of a linear PID joint controller with model predictive feed-forward compensation for mobile base motions and interactive-force disturbance rejection is discussed. Object insertion is achieved by predicting environment-object contact states and motions are planned in the direction of least resistance. Issues addressed include dynamic modeling of multiple cooperative robots, control architecture design and stability analysis, and environment-object contact state prediction. Simulation results show the effectiveness of the control architecture
Disciplinas: Ingeniería
Palabras clave: Ingeniería de control,
Robótica,
Robots colaborativos,
Control predictivo,
Modelos,
Ensamblado
Keyword: Engineering,
Control engineering,
Robotics,
Collaborative robots,
Predictive control,
Models,
Assembly
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