Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

DOI10.1016/j.jfranklin.2017.09.015zbMath1380.93149OpenAlexW2760798180MaRDI QIDQ682775

Zhengsheng Chen, Minghe Jin, Hong Liu, Yechao Liu, Yi Ren, Yikun Gu

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

zbMATH Keywords

adaptive controlLyapunov stabilitydual-arm cooperative manipulatorsdynamic and closed-chain kinematic uncertainties

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

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Cites Work

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