Set point trajectory and internal force control in redundant dual‐arm manipulation

DOI10.1002/ROB.4620100804zbMath0803.70018OpenAlexW2087261967MaRDI QIDQ4285157

Hoda A. ElMaraghy, Waguih H. ElMaraghy, Krzysztof P. Jankowski

Publication date: 13 December 1994

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620100804

zbMATH Keywords

linearizing feedback controlgrip matrix null spaceinertial efforts

Mathematics Subject Classification ID

Feedback control (93B52) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

Cites Work

• An approach to nonlinear feedback control with applications to robotics
• Robust Trajectory Following Control of Robotic Systems
• Feedback stabilization and tracking of constrained robots
• Kinematics and control of multifingered hands with rolling contact
• Reduced Order Model and Decoupled Control Architecture for Two Manipulators Holding a Rigid Object

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