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Position and Force Control of Two Constrained Robotic Manipulators

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Abstract

In this paper, the problem of controlling two robotic manipulators handling a constrained object is addressed. First, a reduced order dynamic model of the system is obtained. Using this model, a controller that guarantees the asymptotic convergence of the position, the internal force, and the constraint force to their desired values is proposed. Simulation results for two three-link planar manipulators moving a constrained object demonstrate the effectiveness of the proposed controller.

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Zribi, M., Loulin, H. & Piu, C.S. Position and Force Control of Two Constrained Robotic Manipulators. Journal of Intelligent and Robotic Systems 24, 1–22 (1999). https://doi.org/10.1023/A:1008067612611

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  • DOI: https://doi.org/10.1023/A:1008067612611

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