A Multi-Priority Controller for Industrial Macro-Micro Manipulation

Uzunoglu E., Tatlicioglu E. , Dede M. I. C.

ROBOTICA, vol.39, no.2, pp.217-232, 2021 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 39 Issue: 2
  • Publication Date: 2021
  • Doi Number: 10.1017/s0263574720000338
  • Title of Journal : ROBOTICA
  • Page Numbers: pp.217-232


In this study, a control algorithm is proposed and evaluated for a special type of kinematically redundant manipulator. This manipulator is comprised of two mechanisms, macro and micro mechanisms, with distinct acceleration and work space characteristics. A control algorithm is devised to minimize the task completion duration and the overall actuator effort with respect to the conventional manipulator. A general framework multi-priority controller for macro-micro manipulators is introduced by utilizing virtual dynamics, which is introduced in null-space projection to achieve secondary tasks. The proposed controller is evaluated on a simulation model based on a previously constructed macro-micro manipulator for planar laser cutting. Task completion duration and the total actuator effort are investigated and the results are compared.