Hostname: page-component-7bb8b95d7b-qxsvm Total loading time: 0 Render date: 2024-10-05T23:14:13.728Z Has data issue: false hasContentIssue false
  • English
  • Français

Coordinated-motion control of heavy-duty industrial machines with redundancy

Published online by Cambridge University Press:  09 March 2009

N. Singh ,
H. Zghal ,
N. Sepehri ,
S. Balakrishnan  and
P. D. Lawrence
N. Singh
Affiliation:
Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, MB (Canada) R3T-2N2
H. Zghal
Affiliation:
Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, MB (Canada) R3T-2N2
N. Sepehri
Affiliation:
Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, MB (Canada) R3T-2N2
S. Balakrishnan
Affiliation:
Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, MB (Canada) R3T-2N2
P. D. Lawrence
Affiliation:
Department of Electrical Engineering, University of British Columbia, Vancouver, BC (Canada) V6T-1W5.
Get access Rights & Permissions [Opens in a new window]

Summary

An implementation of a real-time scheme suitable for coordinated-motion control of a class of teleoperated industrial machines with redundancy is presented. An efficient gradient projection technique is adopted for the numerical solution. The scheme utilizes the redundancy to avoid the joint limits by minimizing a hyperbolic function of the joint distances from the mid-range. This new performance criterion is shown to be advantageous over similar criteria; both the joint-limit avoidance capability and the resulting joint velocity profiles can be adjusted by the appropriate choice of parameters introduced in the criterion. Previous criteria are shown to be special cases of the new criterion. Furthermore, the scheme includes a novel algorithm which incorporates the bounded joint velocities. The joint motions are determined considering both the required task in terms of the desired end-effector speed and the dynamic considerations, such as hydraulic circuit interdependency and power limitations.

The feasibility and effectiveness of the implementation of the scheme is first tested through simulations of a Kaiser Spyder-like excavator machine on a PC-486 micro-computer. The robustness and real-time response of the scheme are then validated on a real-time excavator-based graphics simulator interfaced to a human operator through a joystick.

Keywords

Heavy-duty machinesHydraulicsRedundancyTeleoperationTrajectory control
Type
Articles
Information
Robotica , Volume 13 , Issue 6 , November 1995 , pp. 623 - 633
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Chavez, R.J. and Amazeen, C.A., “Robotics Applied to Rapid Excavation” Proc. 13th Int. Symposium on Industrial Robots and Robots 7,Chicago, III. pp. 94–108.Google Scholar
2.Karkkainen, P. and Manninen, M., “Real-Time Control Method of Large-Scale Manipulators” Robotics 1983 (Rooks, B. ed.) (Anchor Press Ltd., Colchester, England, 1983) pp. 227–230.Google Scholar
3.Vaha, P. and Halme, A., “Adaptive Digital Control for a Heavy-Duty Manipulator” Advanced Software in Robotics (Danthine, A. and Geradin, M. eds.) (Elsevier Science Publishers B.V., North Holland, 1984) pp. 55–60.Google Scholar
4.Hogge, S.M., “Naval Robotics and Artificial Intelligence Systems Applications for the Future” Robots 9 Conference Detroit,Michigan (1985) 2, pp. 22–7–22–9.Google Scholar
5.Sheridan, T.B., “Human Supervisory Control of Robot Systems” Proc. IEEE International Conference on Robotics and Automation,San Francisco, California pp. 808–812.Google Scholar
6.Sheridan, T.B. and Brooks, T.L., “Experimental Evaluation of the Concept of Supervisory Manipulation” Robotics: The part is Prologue, Robotics, Research and Business Opportunities (Published by IEEE, 1986) pp. 593–606.Google Scholar
7.Roper, C., Lawrence, P.D. and Wallersteiner, U., “Resolved Control of Teleoperated Systems” Proc. Oceans '89, Part 3: Navigation, Remote Sensing, Underwater Vehicles/Exploration,Seattle, WA (1989) pp. 782–784.Google Scholar
8.Lawrence, P.D., Sepehri, N., Sassani, F. and Chan, D., “Coordinated Hydraulic Control of Excavator-Based Machines” 2nd Tampere International Conference on Machine Automation,Tampere, Finland (1994) pp. 355–367.Google Scholar
9.Lawrence, P.D., Sassani, F., Sauder, B.J., Sepehri, N., Wallersteiner, U. and Wilson, J., “Computer-Assisted Control of Excavator-Based Machines”, SAE Technical Paper Series; International Off-Highway & Powerplant Congress & Exposition,Milwaukee, Wisconsin, Paper No. 932486 (1993).CrossRefGoogle Scholar
10.Abdel-Rahman, T.M., “A Generalized Practical Method for Analytical Solution of the Constrained Inverse Kinematics Problem of Redundant Manipulators” Int. J. Robotics Research 10, 382–395 (1991).CrossRefGoogle Scholar
11.Kazerounian, K. and Wang, Z., “Global versus Local Optimization in Redundancy Resolution of Robotic Manipulators” Int. J. Robotics Research 7, 3–12 (1987).CrossRefGoogle Scholar
12.Nakamura, Y., Hanafusa, H. and Yoshikawa, T., “Task Priority Based Redundancy Control of Robot Manipulators” Int. J. Robotics Research 6, 3–15 (1987).CrossRefGoogle Scholar
13.Whitney, D.E., “The Mathematics of Coordinate Control of Prosthetic Arms and Manipulators” ASME J. of Dynamic Systems, Measurement and Control 94, 304–309 (1972).CrossRefGoogle Scholar
14.Liegeois, A., “Automatic Supervisory Control of the Configuration and Behavior of Multi-body Mechanics” IEEE Trans, on Systems, Man, and Cybern. SMC-7, 868–871 (1977).Google Scholar
15.Baillieul, J., “Kinematic Programming Alternatives for Redundant Manipulators” Proc. IEEE Int. Conf. on Robotics and Automation,St. Louis, MO (1985) pp. 722–728.Google Scholar
16.Konstantinov, M.S., Markov, M.D. and Nenchev, D.N., “Kinematics Control of Redundant Manipulators” Proc. 11th Int. Symposium on Industrial Robots,Tokyo, Japan (1981) pp. 561–568.Google Scholar
17.Dubey, R.V., Euler, J.A. and Babcock, S.M., “An Efficient Gradient Projection Optimization for the Seven-Degree-of-Freedom Redundant Robot with Spherical Wrist” Proc. IEEE Int. Conf. on Robotics and Automation,Philadelphia, PA (1988) pp. 28–36.Google Scholar
18.H, H., Dubey, R.V. and Euler, J.A., “An Efficient Gradient Projection Optimization for Manipulators with Multiple Degrees of Redundancy” Proc. IEEE Int. Conf on Robotics and Automation,Cincinnati, Ohio (1990) pp. 1006–1011.Google Scholar
19.Euler, J.A., Dubey, R.V. and Babcock, S.M., “Self Motion Determination Based on Joint Velocity Bounds for Redundant Robots” Proc. 2nd Int. Symposium of Robotics and Manufacturing Research, Education, and Application,Albuquerque, NM (1988) pp. 291–298.Google Scholar
20.Lofgren, B., “Kranspetsstyrning” Technical Report Meddelande 18, Skogsarbeten, Box 1184, 16422 Kista, Sweden, (1989).Google Scholar
21.Sepehri, N., Lawrence, P.D., Sassani, F. and Frenette, R., “Resolved-Mode Teleoperated Control of Heavy-Duty Hydraulic Machines” ASME J. of Dynamic Systems, Measurement and Control 116, 232–240 (1944).CrossRefGoogle Scholar
22.Sepehri, N., Dynamic Simulation and Control of Teleoperated Heavy-Duty Hydraulic Manipulators Ph.D. Thesis (Department of Mechanical Engineering, University of British Colombia, 1990).Google Scholar
23.Whitney, D.E., “Resolved-Motion Rate Control of Manipulators and Human Prosthesis” IEEe Trans. Man-Machine Systems and Control 10, 47–53 (1969).CrossRefGoogle Scholar
24.Klein, C.A. and Huang, C.H., “Review of Psuedoinverse Control for Use with Kinematically Redundant Manipulators” IEEE Trans, on Systems, Man, and Cybern. 13, 245–250 (1983).CrossRefGoogle Scholar
25.Klein, CA. and Chirco, A.I., “Dynamic Simulation of a Kinematically Redudant Manipulator System” Int. J. Robotic Systems 4, 5–23 (1987).CrossRefGoogle Scholar
26.Singh, N., “Real-Time Control of a Class of Kinematically Redundant Industrial Machines” M.Sc. Thesis (Department of Mechanical and Industrial Engineering, University of Manitoba, Winnipeg, Canada 1994).Google Scholar
27.Euler, J.A., Dubey, R.V., Babcock, S.M. and Hamel, W.R., “A Comparison of Two Real-Time Control Scheme for Redundant Manipulators with Bounded Joint Velocities” Proc. IEEE Int. Conf. on Robotics and Automation (1989) pp. 106–112.Google Scholar
28.Sepehri, N., Frenette, R. and Lawrence, P.D., “Proportional Hydraulic Control” US Patent No. 5,167,121 (allowed Dec. 1, 1992, Date U.S. filed Jun. 25, 1991, Application No. 720378).Google Scholar