Independent force and position control for cooperating manipulators.
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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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Cites work
- Adaptive motion/force control of multiple manipulators with joint flexibility based on virtual decomposition
- Generalised command matching for a robot gripping an inertial load
- Implicit linear systems
- Motion and force control of multiple robotic manipulators
- On the structure of the minimum-time control law for multiple robot arms handling a common object
- Stability analysis of position and force control for robot arms
- VSC coordinated control of two manipulator arms in the presence of environmental constraints
Cited in
(24)- Mobile robots in singular time-delay form -- modeling and control
- Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment
- Task-space regulation of cooperative manipulators
- Features of designing combined force/position manipulator control systems
- A unified approach for the common I/O decoupling via measurement output feedback of multi model descriptor and normal systems
- Coordinated control of cooperating robotic manipulators
- Average consensus in networks of dynamic agents with uncertain topologies and time-varying delays
- Minimization of Power Losses in Cooperating Manipulators
- Generalised command matching for a robot gripping an inertial load
- scientific article; zbMATH DE number 980231 (Why is no real title available?)
- A joint error-feedback approach to internal force regulation in cooperating manipulator systems
- Stability analysis of a joint space control law for a two-manipulator system
- Impact model and control of two multi-DOF cooperating manipulators
- Non-linear position control of cooperative hydraulic manipulators handling unknown payloads
- Dynamic state feedback control of two cooperative manipulators
- scientific article; zbMATH DE number 1827911 (Why is no real title available?)
- scientific article; zbMATH DE number 1827929 (Why is no real title available?)
- Planning and controlling cooperating robots through distributed impedance
- Interactive force control of an operator-mobile manipulator coordination system
- Distributively controlling two robots handling an object in the task space without any communication
- scientific article; zbMATH DE number 5492163 (Why is no real title available?)
- Prescribed time tracking control without velocity measurement for dual-arm robots
- Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics
- Multi-arm cooperating robots. Dynamics and control
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