A self-adjusting and modular supervisory control algorithm for planar dexterous manipulation

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buir.contributor.authorÇakmakçı, Melih
buir.contributor.orcidÇakmakçı, Melih|0000-0003-0686-9631
dc.citation.epage102936-16en_US
dc.citation.spage102936-1
dc.citation.volumeNumber90
dc.contributor.authorRistevski, Stefan
dc.contributor.authorÇakmakçı, Melih
dc.date.accessioned2024-03-13T07:14:02Z
dc.date.available2024-03-13T07:14:02Z
dc.date.issued2023-04
dc.departmentDepartment of Mechanical Engineering
dc.description.abstractMany applications require precise handling and manipulation of delicate objects. In some cases, the object must be transported to a new location following a strict travel path including time-related constraints. This paper presents a self-adjusting modular control algorithm for dexterous manipulation of planar objects using multiple manipulators with precise path and timing deliveries. The popular caging approach is simple, and usually effective when manipulating objects with multiple devices but can fail following complex paths with orientation adjustments under time-critical tracking requirements. The proposed approach exploits the dynamics of the object in real-time using tracking control and allocates the force that needs to be applied by each manipulator based on their current position around the object to maximize their capability to push in the direction of the contact angle. The new algorithm is self-adjusting and modular; It can adjust its force allocation according to configuration changes during operation, and manipulators execute the same algorithm regardless of their number. The advantages of the new approach are successfully demonstrated both with simulations and testbed experiments, including orientation tracking, which is not typically featured with the caging approach. Conditions to check when the new algorithm is most effective are also analyzed. The closed-loop stability and performance of the new algorithm are also studied and necessary conditions are identified.
dc.identifier.doi10.1016/j.mechatronics.2022.102936
dc.identifier.eissn1873-4006
dc.identifier.issn0957-4158
dc.identifier.urihttps://hdl.handle.net/11693/114653
dc.language.isoen
dc.publisherElsevier
dc.relation.isversionofhttps://doi.org/10.1016/j.mechatronics.2022.102936
dc.rightsCC BY-NC 4.0 DEED (Attribution-NonCommercial 4.0 International)
dc.rights.urihttps://creativecommons.org/licenses/by-nc/4.0/
dc.source.titleMechatronics
dc.subjectDexterous manipulation
dc.subjectself-adjusting
dc.subjectmobile robots
dc.subjectorientation tracking
dc.titleA self-adjusting and modular supervisory control algorithm for planar dexterous manipulation
dc.typeArticle

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