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

    Authors

    X. Gao; D. M. Dawson; Z. Qu;J. Hu

    Comments

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    Abbreviated Journal Title

    Int. J. Robot. Autom.

    Keywords

    ROBUST CONTROL; 2-ARM; CONSTRAINT MOTION; Automation & Control Systems; Robotics

    Abstract

    In this paper, a two-arm control model is developed for the closed chain motion of two six-joint manipulators holding a rigid object in a six-degree-of-freedom workspace. Dynamic and kinematic constraints are combined with the equations of motion of the manipulators to obtain a dynamic model of the entire system in the joint space. A transformation approach is then applied to the entire system model to obtain a transformed reduced-order two-arm model that has a great advantage over other two-arm models in that this model is identical to the single constrained robot manipulator model. To illustrate this point, a robust controller based on previous work is applied to our two-arm model. Simulation results are used to validate the theoretical results.

    Journal Title

    International Journal of Robotics & Automation

    Volume

    9

    Issue/Number

    3

    Publication Date

    1-1-1994

    Document Type

    Article

    Language

    English

    First Page

    107

    Last Page

    115

    WOS Identifier

    WOS:A1994QE65200003

    ISSN

    0826-8185

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