Title

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

Authors

Authors

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

Comments

Authors: contact us about adding a copy of your work at STARS@ucf.edu

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

Share

COinS