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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
Issue Date: 2021
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.
ISSN: 0263-5747
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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