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Compliance Control and Stability Analysis of Cooperating Robot manipulators

Published online by Cambridge University Press:  09 March 2009

H. Kazerooni
H. Kazerooni
Affiliation:
Mechanical Engineering Department, 111 Church Street SEUniversity of Minnesota Minneapolis, Minnesota, 55455 (USA)
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Summary

The work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.

Keywords

ComplianceStability analysisCooperating robotsControl strategy
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 191 - 198
Copyright
Copyright © Cambridge University Press 1989

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References

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