Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics
From MaRDI portal
Publication:682775
DOI10.1016/j.jfranklin.2017.09.015zbMath1380.93149MaRDI QIDQ682775
Hong Liu, Yi Ren, Zhengsheng Chen, Yechao Liu, Yikun Gu, Minghe Jin
Publication date: 5 February 2018
Published in: Journal of the Franklin Institute (Search for Journal in Brave)
Full work available at URL: https://mediatum.ub.tum.de/doc/1430489/document.pdf
adaptive control; Lyapunov stability; dual-arm cooperative manipulators; dynamic and closed-chain kinematic uncertainties
93C41: Control/observation systems with incomplete information
93C40: Adaptive control/observation systems
93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory
93C85: Automated systems (robots, etc.) in control theory
