Independent force and position control for cooperating manipulators. (Q1428205)
From MaRDI portal
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Independent force and position control for cooperating manipulators. |
scientific article |
Statements
Independent force and position control for cooperating manipulators. (English)
0 references
14 March 2004
0 references
The problem of independent coordinate force and position control for cooperative manipulators commonly gripping an object is addressed. This is treated using a linearized implicit model of the system, not involving the dynamic equations of motion of the load, thus providing a general purpose state feedback controller.
0 references
robot dynamics and control
0 references
force/position control
0 references
decoupling
0 references
linearization
0 references
cooperative manipulators
0 references
0 references
0 references