A joint error-feedback approach to internal force regulation in cooperating manipulator systems

DOI<link itemprop=identifier href="https://doi.org/10.1002/(SICI)1097-4563(199709)14:9<631::AID-ROB1>3.0.CO;2-M" /><631::AID-ROB1>3.0.CO;2-M 10.1002/(SICI)1097-4563(199709)14:9<631::AID-ROB1>3.0.CO;2-MzbMath0919.70020OpenAlexW1983290661MaRDI QIDQ4362188

Greg R. Luecke, Kien Wee Lai

Publication date: 2 September 1999

Full work available at URL: https://doi.org/10.1002/(sici)1097-4563(199709)14:9<631::aid-rob1>3.0.co;2-m

zbMATH Keywords

kinematic constraintsredundant actuationclosed kinematic chainslocal control algorithminternally transmitted forcesvector of effector forces

Mathematics Subject Classification ID

Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)

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Task-space regulation of cooperative manipulators

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