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Design of dynamic control of two cooperating robot arms: Closed chain formulation

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3 Author(s)
Tarn, T.J. ; Washington University, St. Louis, MO ; Bejczy, A.K. ; Yun, X.

In this paper the dynamic equation describing two cooperating robot arms which simultaneously are working on the same object is established by considering the whole system as a closed kinematic chain. This formulation has the advantage of automatically handling the coordination and load distribution between the robot arms through the dynamic equation. It can also be generalized to a multi-robot arm system. The control problem is solved as a design problem for a linear system by first applying a nonlinear feedback and nonlinear coordinate transformation to linearize the nonlinear dynamic equation, and then employing the linear optimal control theory to design a robust controller in the task space. This new dynamic control method establishes a direct control response to task space commands facilitating dynamics based task encoding in robotics.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987