Independent force and position control for cooperating manipulators.

DOI10.1016/J.JFRANKLIN.2003.10.002zbMath1036.93049OpenAlexW2088397729MaRDI 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

linearizationdecouplingcooperative manipulatorsrobot dynamics and controlforce/position control

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Robot dynamics and control of rigid bodies (70E60)

Related Items (5)

A unified approach for the common I/O decoupling via measurement output feedback of multi model descriptor and normal systems ⋮ Mobile robots in singular time-delay form -- modeling and control ⋮ Average consensus in networks of dynamic agents with uncertain topologies and time-varying delays ⋮ 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

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

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