Title

On The Robust Control Of Two Manipulators Holding A Rigid Object

Keywords

Multiple manipulators; position/force control; robot modeling; robust control

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. © 1992 Kluwer Academic Publishers.

Publication Date

1-1-1992

Publication Title

Journal of Intelligent and Robotic Systems

Volume

6

Issue

1

Number of Pages

107-119

Document Type

Article

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/BF00314701

Socpus ID

34249835143 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/34249835143

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