Framework for load apportioning and interactive force control using a Hopfield neural network

Bruce R. Copeland; Joseph N. Anderson

doi:10.1117/12.25148

1 February 1991 Framework for load apportioning and interactive force control using a Hopfield neural network

Bruce R. Copeland, Joseph N. Anderson

Proceedings Volume 1381, Intelligent Robots and Computer Vision IX: Algorithms and Techniques; (1991) https://doi.org/10.1117/12.25148
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

This paper considers the control of two robotic manipulators jointly graspingwith no slippagea rigid object. Two conflicting control problems are addressed: Adaptively apportioning the object load between the manipulators and application of commanded interactive forces (or bias forces) to the object. By controlling the interactive forces damage to the manipulators and/or the object can be prevented. Additionally a desired tension torsion or cornpression can be applied to the object. Adaptive load apportioning (sharing) increases the carrying capacity of the system by using possible mechanical advantage. The Hopfleld net is used to minimize a quadratic energy function in the joint torques. The results are the optimal joint torques required to drive the load and supply the commanded bias force. Simulations are presented that show effective control of interactive forces while sharing the load in an optimal fashion.

Citation Download Citation

Bruce R. Copeland and Joseph N. Anderson "Framework for load apportioning and interactive force control using a Hopfield neural network", Proc. SPIE 1381, Intelligent Robots and Computer Vision IX: Algorithms and Techniques, (1 February 1991); https://doi.org/10.1117/12.25148

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available