Abstract
This paper proposes a strategy for handling a heavy object by cooperation of a PID position controlled robot and a new type crane with three wires. Installation of free joints or flexibility is essential to avoid excessive inner forces caused by the positioning error of the robot and the crane. First, the necessary mechanical conditions to achieve the cooperation among position-controlled robots are shown. Second, a free joint mechanism designed for the cooperation of the robot and the crane is introduced. Since the cooperative system with the free joint mechanism has kinematic redundancy, it can be used for the optimization of some criteria determined from the characteristics of tasks. This system is controlled by master/slave type controllers. After the robot grasps a suspended object, the robot is position-controlled as a master. The crane is velocity-controlled as a slave to eliminate the displacements of each free joint generated by the motion of the robot. Eventually, the transfer of the suspended object to the target position is achieved. The results of experiments using a prototype crane and a popular industrial robot verified the effectiveness of the free joint mechanism and the cooperative control algorithm. The strategy proposed here is very effective and practical for cooperation of not only conventional industrial robots but also distributed autonomous mobile robots with non-holonomic constraints.
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© 1994 Springer-Verlag Tokyo
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Osumi, H. et al. (1994). Cooperative System between a Position-controlled Robot and a Crane with Three Wires. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_31
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DOI: https://doi.org/10.1007/978-4-431-68275-2_31
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
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