On The Robust-Control Of 2 Manipulators Holding A Rigid Object
Abbreviated Journal Title
Int. J. Robot. Autom.
ROBUST CONTROL; 2-ARM; CONSTRAINT MOTION; Automation & Control Systems; Robotics
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.
International Journal of Robotics & Automation
"On The Robust-Control Of 2 Manipulators Holding A Rigid Object" (1994). Faculty Bibliography 1990s. 1046.