A Multi-Priority Controller for Industrial Macro-Micro Manipulation
Articles > Article · 2020
Authors: Emre Uzunoglu, Enver TATLICIOĞLU, Mehmet I. Can Dede
ROBOTICA, Journal Indexed in SCI Expanded, International, 2020, vol 39, pp 217-232
DOI: 10.1017/s0263574720000338
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.