A Multi-Priority Controller for Industrial Macro-Micro Manipulation. Issue 2 (19th February 2021)

• Record Type: Journal Article
• Authors: Uzunoğlu, Emre; Tatlicioğlu, Enver; Dede, Mehmet İ. Can
• Is Part Of: Robotica. Volume 39:Issue 2(2021)
• Page Start: 217
• Page End: 232
• Publication Date: 2021-02-19
• Subjects: Redundant manipulators, -- Robot dynamics, -- Control of robotic systems, -- Macro-micro manipulation, -- Multi-priority control, -- Computed torque control; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574720000338
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: 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.