Independent force and position control for cooperating manipulators.

DOI10.1016/j.jfranklin.2003.10.002zbMath1036.93049MaRDI QIDQ1428205

Konstantinos G. Tzierakis, Fotis N. Koumboulis

Publication date: 14 March 2004

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2003.10.002

zbMATH Keywords

linearization; decoupling; cooperative manipulators; robot dynamics and control; force/position control

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

93B18: Linearizations

70E60: Robot dynamics and control of rigid bodies

Related Items

A unified approach for the common I/O decoupling via measurement output feedback of multi model descriptor and normal systems, Average consensus in networks of dynamic agents with uncertain topologies and time-varying delays, Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics, Mobile robots in singular time-delay form -- modeling and control

Cites Work

• Motion and force control of multiple robotic manipulators
• Implicit linear systems
• Stability analysis of position and force control for robot arms
• On the structure of the minimum-time control law for multiple robot arms handling a common object
• VSC coordinated control of two manipulator arms in the presence of environmental constraints
• Generalised command matching for a robot gripping an inertial load
• Adaptive motion/force control of multiple manipulators with joint flexibility based on virtual decomposition