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

    Authors

    X. M. Gao; D. Dawson;Z. H. Qu

    Comments

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    Abbreviated Journal Title

    J. Intell. Robot. Syst.

    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.

    Journal Title

    Journal of Intelligent & Robotic Systems

    Volume

    6

    Issue/Number

    1

    Publication Date

    1-1-1992

    Document Type

    Article; Proceedings Paper

    Language

    English

    First Page

    107

    Last Page

    119

    WOS Identifier

    WOS:A1992JL22200009

    ISSN

    0921-0296

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