Motion and force control of multiple robotic manipulators

Automatica

Volumn 28, Issue 4, 1992, Pages 729-743

  Wen, John T ^a   Kreutz Delgado, Kenneth ^b  

^a RENSSELAER POLYTECHNIC INSTITUTE   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

control applications; force control; Lyapunov methods; robot control; Robots; stability

Indexed keywords

CONTROL SYSTEMS - DESIGN; CONTROL, MECHANICAL VARIABLES - FORCES; CONTROL, MECHANICAL VARIABLES - MOTION; SYSTEM STABILITY - LYAPUNOV METHODS;

MULTIPLE ROBOTIC MANIPULATORS;

ROBOTS;

EID: 0026897897     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/0005-1098(92)90033-C     Document Type: Article

References (19)

1. Cooperative motion control of multiple robot arms or fingers
2. Force control of a multiarm robot system
3. The fallacy of modern hybrid control theory that is based on orthogonal complements of twist and wrench spaces
4. Hybrid position/force control of multi-arm cooperating robots
5. Augmented object concept in multi-robot manipulator control
6. Load balancing and control of closed chain multiple arm systems: The rigid grasp case
7. Some extensions of Lyapunov's second method
8. Coordination and load balancing for multi-arm systems
9. Mechanics of coordinative manipulation by multiple robotic mechanisms
10. Adaptive motion control of rigid robots A tutorial
11. Closed chain forward dynamics by manipulator mass matrix factorization and inversion
12. A new feedback method for dynamic control of manipulators
13. Design of dynamic control of two cooperating robot arms Closed chain formulation
14. Simple robust control laws for robotic manipulators, part I: Non-adaptive case
15. The attitude control problem
16. Motion and force control of multiple robotic manipulators
17. Position and force control of robot arms
18. Control of two coordinated robots in motion