A self-adjusting active compliance controller for multiple robots handling an object

Control Engineering Practice

Volumn 10, Issue 2, 2002, Pages 165-173

  Von Albrichsfeld, Christian ^a,b   Tolle, Henning ^a  

^a DARMSTADT UNIVERSITY OF TECHNOLOGY   (Germany)

^b Continental Teves AG Co OHG ^*  (Germany)

Author keywords

Admittance control; Compliance control; Decoupling problems; Force position control; Intelligent control; Multi arm robots; Robot control; Self tuning control

Indexed keywords

COMPUTER SIMULATION; CONTROL SYSTEM ANALYSIS; FEEDBACK CONTROL; MOTION CONTROL; PARAMETER ESTIMATION; ROBOTS;

ACTIVE COMPLIANCE CONTROLLERS;

SELF ADJUSTING CONTROL SYSTEMS;

CONTROL SYSTEM; ROBOT;

EID: 0036469883     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(01)00112-5     Document Type: Article

References (20)

1. Self-adjusting active compliance controller for two cooperating robots handling a flexible object
2. Learning approach to the active compliance control of multi-arm robots coupled through a flexible object
3. Coordinated control of two robot arms
4. An active compliance scheme for robots with cooperating arms
5. A theory of generalized inverses applied to robotics
6. Hybrid position/force control of multi-arm cooperating robots
7. Cooperation control of multiple manipulators with passive joints
8. Compliance and force control of computer controlled manipulators
9. Force/position learning control of multiple robot manipulators
10. Experimental comparison of hybrid position/force control schemes for two cooperative robotic arms
11. Analysis of constrained elastic manipulations
12. Cartesian-level control strategy for a system of manipulators coupled through a flexible object
13. Optimization of cooperating system performances under distributed impedance control
14. Coordinated control of two robot arms
15. A symmetric position/force control scheme for the coordination of two robots
16. A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: An application to sawing task
17. Control of two-arm coordinated Robots in motion