Robust cooperative control systems for multiple manipulators in the presence of external force

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

Volumn 64, Issue 5, 1998, Pages 690-694

  Leksono, Edi ^a   Murakami, Toshiyuki ^a   Ohnishi, Kouhei ^a  

^a NONE

Author keywords

Cooperative multiple manipulators; Disturbance observer; External force; Joint space; Motion control; Workspace

Indexed keywords

ACCELERATION CONTROL; GRIPPERS; MANIPULATORS; MOTION CONTROL; OBSERVABILITY; ROBUSTNESS (CONTROL SYSTEMS);

COOPERATIVE MULTIPLE MANIPULATORS; JOINT SPACE DISTURBANCE OBSERVERS;

CONTROL SYSTEMS;

EID: 0032072277     PISSN: 09120289     EISSN: None     Source Type: Journal    
DOI: 10.2493/jjspe.64.690     Document Type: Article

References (6)

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3. I.D. Waller et al.: Distribution of Dynamic Loads for Multiple Cooperating Robot Manipulators, J. Robotic Systems, 6, 1, (1989) 35.
4. T. Murakami et al.: A Motion Control Strategy Based on Equivalent Mass Matrix in Multidegree of Freedom Manipulator, IEEE Trans. Ind. Electron., 42, 2, (1995) 123.
5. T. Murakami et al.: Oberver Based Adaptive Force Control of Multi-Degrees-of-Freedom Manipulator, Proc. IEEE Int. Conf. Ind. Electron., San Diego, USA, (1992) 1500.
6. K. Ohnishi et al.: Applications of Advanced Control Techniques in Electrical Drives, Proc. IEEE Workshop on Microcomputer Control off Electrical Drives, Trieste, Italy, (1989) 1.