Investigating Task Prioritization and Holistic Coordination Using Relative Jacobian for Combined 3-Arm Cooperating Parallel Manipulators
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Publication Details
Author list: Jamisola RS, Ibikunle FA
Place: TOKYO
Publication year: 2016
Journal: JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS (1343-0130)
Journal acronym: J ADV COMPUT INTELL
Volume number: 20
Issue number: 1
Start page: 117
End page: 123
Number of pages: 7
ISSN: 1343-0130
eISSN: 1883-8014
Languages: English-Great Britain (EN-GB)
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Abstract
A new modular relative Jacobian formulation for single end-effector control of combined 3-arm cooperating parallel manipulators is derived. It is based on a previous method of derivation for dual-arm robots, with the same approach of modularity and single end-effector control for combined manipulators. This paper will present this new formulation, as well as investigate task prioritization scheme to verify the claim that a single end-effector controller of combined manipulators will indeed implement a strict task prioritization, by intentionally adding more tasks. In addition, this paper will investigate a claim that the holistic approach to control of combined manipulators affords easier control coordination of each of the stand-alone components. Switching control from an individual manipulator control in the null space to relative control in the tasks space is shown to investigate the smoothness of task execution during switching. Simulation results using Gazebo 2.2.5 running in Ubuntu 14.04 is shown.
Keywords
3-arm cooperating parallel manipulators, holistic control coordination, modular kinematics, Relative Jacobian, single end-effector control, Task prioritization
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