Stable Capturing Strategy in the Dual-arm Time-Delay Capturing System with Hardware Closed Chain
- Resource Type
- Conference
- Authors
- Zhao, Xiaoyu; Liu, Yang; Xie, Zongwu
- Source
- 2021 7th International Conference on Control, Automation and Robotics (ICCAR) Control, Automation and Robotics (ICCAR), 2021 7th International Conference on. :131-135 Apr, 2021
- Subject
- Robotics and Control Systems
Delay effects
Simulation
Stability criteria
Robot control
Force
Dynamics
Process control
hardware closed chain
time delay
discrete control system
capturing stability
3D-root-locus
dual-arm robot system
- Language
- ISSN
- 2251-2454
When a multi-manipulator system is employed to carry out a capturing task, the hardware closed chain is formed. The capturing process with hardware closed chain may fail when the robot control system has non-negligible time delay. In this paper, the mathematical model of the capturing system is built and simplified for a feasible stability analysis. Three-dimensional root-locus is applied to explore the system stable condition and promote the stable capturing strategy. Simulations are carried out to validate the proposed theory and the results show that the system controlled by the strategy shows a considerable convergence.