JACIII Vol.20 No.1 pp. 117-123
doi: 10.20965/jaciii.2016.p0117


Investigating Task Prioritization and Holistic Coordination Using Relative Jacobian for Combined 3-Arm Cooperating Parallel Manipulators

Rodrigo S. Jamisola Jr. and Frank Ayo Ibikunle

Electrical, Computer and Telecommunications Engineering Department, Botswana International University of Science and Technology (BIUST)
Private Bag 16, Palapye 10071, Botswana

June 4, 2015
September 11, 2015
Online released:
January 19, 2016
January 20, 2016
Task prioritization, holistic control coordination, 3-arm cooperating parallel manipulators, single end-effector control, relative Jacobian, modular kinematics

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.

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Last updated on Mar. 28, 2017