Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 21, Issue 3, Pages 520-525Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2004.839219
Keywords
adaptive control; compliance control; control systems; cooperative systems; coordination; distributed control; force control; Lyapunov methods; manipulators; motion control; multirobot; position control; robot dynamics; stability; synchronization
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In assembly tasks performed by coordinated multiple robots, the contact force at the end-effector of each robot should be a function of the states of all the robots, and further be a function of the control inputs when subject to rigid constraints. After a discussion on the algebraic loop issue caused by using direct force cancellation, an adaptive synchronization control algorithm is proposed in this paper, which particularly addresses the dual-arm case subject to both flexible and rigid constraints. Extension of the result to the multiple-arm case is also presented.
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