{"entities":{"Q1977046":{"pageid":1987788,"ns":120,"title":"Item:Q1977046","lastrevid":46923474,"modified":"2025-12-25T20:58:29Z","type":"item","id":"Q1977046","labels":{"en":{"language":"en","value":"Task-space regulation of cooperative manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1443877"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$AD8EFB89-4AE0-4036-931F-94BCDBA9792D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b1629df7ec7e041322dc0bf5e651f3702e2a803a","datavalue":{"value":{"text":"Task-space regulation of cooperative manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1977046$F8364315-6981-4C29-9710-23043CDEAF65","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4891004c0f1a6271945633dc9b867c50963864a2","datavalue":{"value":"0954.93026","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$DA921255-4D6B-49F6-816A-D0FE70805770","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"633a090559deef2a5fed14e7e357a7d265ca25d1","datavalue":{"value":"10.1016/S0005-1098(99)00215-0","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$80C6D4BE-A701-4644-96ED-1DD88E355362","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$AA9BE0D9-5975-4E05-9562-0187E036A179","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1f254fdbb9fe00827c6b84e770ead83cb29ab1e5","datavalue":{"value":{"time":"+2001-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1977046$80216597-5463-4E9D-8118-1547E4B09672","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"8312485217c082ac9c2ba159b03e684b2ea2dab7","datavalue":{"value":"This paper is concerned with the position and orientation stabilization problem in the task space of a pair of non-redundant 6 d.o.f. rigid manipulators holding tightly a common rigid object. The control task has been described in the language of unit quaternions. The dynamics of the system have the form  \\[ \\begin{cases} M(q)\\ddot q+C(q,\\dot q)\\dot q+F\\dot q+g(p)=\\tau-J^T(q)h\\\\ M_{\\text{ext}}\\dot\\nu_{\\text{ext}}+C_{\\text{ext}}\\nu_{\\text{ext}}+g_{\\text{ext} }=h_{\\text{ext}},\\end{cases} \\tag{*} \\]  where \\(q\\in\\mathbb{R}^{12}\\) denotes the joint position vector of the manipulators, \\(h\\in\\mathbb{R}^{12}\\) is the vector of contact forces exerted by end effectors, and the meaning of other terms is standard. The second line equations refer to the dynamics of the object. Using the pseudoinverse of the grasp matrix \\(W\\) the contact forces are expressed by external and internal forces acting on the object as  \\[ h=W^+h_{\\text{ext}}+V h_{\\text{int}}. \\]  The main result of the paper consists in proposing the following control algorithm  \\[ \\tau=J^T(W^+W+V\\Sigma V^+)K_pe-K_d\\dot q+g+J^T W^+g_{\\text{ext}}\\tag{**} \\]  which is a variant of the PD controller with gravity compensation. \\(\\Sigma\\) is a diagonal matrix able to suppress the influence of internal forces. Asymptotic stability of the closed loop system (*) and (**) has been derived from the La Salle invariance principle. Further modifications of (**) have been set out including adding an internal force feedback and introducing an estimate of the gravity term.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1977046$A999616E-4213-4700-BFDD-B0AABF78CAD1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$8FA44639-DEC4-4CCE-9E36-A6E27A68DA92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$521AFB7B-CF6E-4459-B5D3-E43A3919D8CC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"406c80d213b264ba577b5aab979b8ac352491ba7","datavalue":{"value":"93D15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$4DBB8342-2497-4469-A038-DE420B004A4B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"278c53b78cc1f32c281e097a461e4261cb519e85","datavalue":{"value":"1443877","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$7FD6E9C1-7CC1-46F9-A87F-E77E3B3344D8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"960fc0c758470d5194eed1ddd4e08c3c6a3258cc","datavalue":{"value":"robot control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1977046$F8EBFAA2-E162-411C-95B6-0F66CE1A6D86","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5a024ea74fd9ebb96c04e83f9bcc93d3ca2bb69b","datavalue":{"value":"regulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1977046$D74674B9-0CD0-4A2B-914B-15A80A4BF5D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"acad61b946c4ce6b7a43fb8f8ee86dccadec2404","datavalue":{"value":"stabilization","type":"string"},"datatype":"string"},"type":"statement","id":"Q1977046$DCB9910C-E25B-4982-8150-489BEB082D3B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1cb98daf3c80fce2c8777409dfc514a6e4526ce7","datavalue":{"value":"rigid manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1977046$3B4A382F-2C76-4CAF-8D72-69C08FB9DCF4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e4485334f04252c1fd1d73af62c9a67737fbfa41","datavalue":{"value":{"entity-type":"item","numeric-id":485052,"id":"Q485052"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$28FEAFDF-CE23-404C-A8D7-A0C5DAA8E505","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"b1b4ff029b2fe04b7e44018868042dd213323a24","datavalue":{"value":{"entity-type":"item","numeric-id":838994,"id":"Q838994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$BF9F8B3F-46CC-4E3F-9524-5F7DA3AFC034","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6a5b78482ebf93ea38e4d22731ce06dd6335c7b9","datavalue":{"value":{"entity-type":"item","numeric-id":1614430,"id":"Q1614430"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$397E06A8-815B-4F67-9F38-4C766ACC79EC","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"1640de9116ea8a0dc9e2f49f0b69cf7cc19b7e27","datavalue":{"value":{"entity-type":"item","numeric-id":330979,"id":"Q330979"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$36694F2C-D8CC-471D-9B74-945785D1BC5F","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$61391B97-22D2-406F-87C0-345E9A652D0E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"7fe813195e9b73efe29c5c658a7409b28911ddb6","datavalue":{"value":{"entity-type":"item","numeric-id":4506656,"id":"Q4506656"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$0595A691-5A00-4FBC-BEA6-575C183B10B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fdb2e610d017453b19333426e1fbd14fb6463257","datavalue":{"value":{"entity-type":"item","numeric-id":4336362,"id":"Q4336362"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$9167770C-CEE2-4DB5-91E9-8C641C5FEBDD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c495e6fbd5bc64c7e648c99c93539735f21cc99","datavalue":{"value":{"entity-type":"item","numeric-id":3128877,"id":"Q3128877"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$A5EB1B1D-D7DD-4C16-8B53-E24343051CED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5bb3ac5e26358d4ab1424bff7fb636aec0d5424c","datavalue":{"value":{"entity-type":"item","numeric-id":4362188,"id":"Q4362188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$AFCC246B-3B84-409E-A201-07B3D55F9FA1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"854d93c3d7a6e820819756342f6d2e8ada426a64","datavalue":{"value":{"entity-type":"item","numeric-id":4040075,"id":"Q4040075"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$DB0BFE95-39A0-474A-AD41-57211BC8C164","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3ed4c859fd748ab2f2e64764dc36240931886e3a","datavalue":{"value":{"entity-type":"item","numeric-id":1194940,"id":"Q1194940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1977046$0A528565-7AF8-480E-B064-3D248B9CE481","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"a5031a22da7f479d370ed318c026c045dd5a7a73","datavalue":{"value":"Q127951928","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1977046$E2BCEECF-9B0A-499F-BFDB-663EC498A1F3","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8b0ea542dfcfda8b47a722b6e0c978d0ad5725b6","datavalue":{"value":{"entity-type":"item","numeric-id":4506656,"id":"Q4506656"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7af0e68bdcdf32ad4aa54b9079d601627a71ca34","datavalue":{"value":{"amount":"+0.8066936135292053","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1977046$16EC1D8E-7DBC-45C6-B544-7569C1305BE1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7cb05720434d2d1af4d88dc07e95c1c9293ad927","datavalue":{"value":{"entity-type":"item","numeric-id":1428205,"id":"Q1428205"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"490083617eb6fcd3c42d6660b5976ef2e69e2751","datavalue":{"value":{"amount":"+0.7988439202308655","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1977046$3120FD59-22D9-4C70-BC75-8D9E6B5D7D4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"174b09b6435ece5780b9a32a925b933d12850a8d","datavalue":{"value":{"entity-type":"item","numeric-id":4693332,"id":"Q4693332"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"74628cb69e7495a57fd7ce0e0271c87d9d06bbb4","datavalue":{"value":{"amount":"+0.7764052748680115","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1977046$42AF4667-5279-4750-AD5B-CAE8DE4F262B","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1977046","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1977046"}}}}}