Impact model and control of two multi-DOF cooperating manipulators

DOI10.1109/9.769394MaRDI QIDQ4506820zbMATH OpenOpenAlexFDO

Authors Marina Indri, Antonio Tornambé

Publication date 17 October 2000

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.769394

zbMATH Keywords

cooperating manipulatorscooperating robot armsforce controlglobal asymptotic regulationimpact forcesprescribed contact force

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Impact in solid mechanics (74M20) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(10)

• Independent force and position control for cooperating manipulators.
• State estimation for the Newton's cradle: A mechanism that is unobservable in the absence of impacts
• Velocity observers for nonlinear mechanical systems subject to nonsmooth impacts
• Modelling and experimental validation of a planar 2-dof cobot as a differential-algebraic equation system
• Control of a series of carts in the case of nonsmooth unilateral impacts
• Modelling and Mechanical Design of Underactuated Robot Manipulators with Impact and Friction
• Collision Effects on Two Coordinating Robots in Assembly and the Effect Minimization
• Impact control of a single-link robot striking different environments: theoretical and experimental investigation
• Modelling and controlling one-degree-of-freedom impacts
• Velocity observers for linear mechanical systems subject to single non-smooth impacts

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