Independent force and position control for cooperating manipulators. (Q1428205)
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scientific article; zbMATH DE number 2056351
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| English | Independent force and position control for cooperating manipulators. |
scientific article; zbMATH DE number 2056351 |
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Independent force and position control for cooperating manipulators. (English)
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14 March 2004
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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.
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robot dynamics and control
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force/position control
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decoupling
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linearization
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cooperative manipulators
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0.8437628149986267
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0.8125462532043457
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0.8037140965461731
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0.7988439202308655
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