Title

On The Robust-Control Of 2 Manipulators Holding A Rigid Object

Authors

X M. Gao

Title - Alternative

Neural Netw.

Keywords

MULTIPLE MANIPULATORS; ROBUST CONTROL; POSITION FORCE CONTROL; ROBOT; MODELING; INDUSTRIAL ROBOTS; Computer Science, Artificial Intelligence; Robotics

Abstract

In this paper, a control architecture is developed for the closed chain motion of two six-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joint space. Reduced-order dynamic equations are then developed with regard to the position and force control variables. Robust control laws are then determined such that the force and position control design is decoupled. The control laws that will be discussed are: a robust position tracking controller that yields an exponentially stable position tracking error result. and a robust force tracking controller that yields adjustable bounds on the force tracking error.

Publication Title

Neural Networks

Volume

5

Issue/Number

1

Publication Date

1-1-1992

Document Type

Article; Proceedings Paper

Language

English

First Page

107

Last Page

119

WOS Identifier

WOS:A1992JL88500002

ISSN

0921-0296

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