Referenced Items are not available for this document.
In this paper, robotic systems when two or more underactuated manipulators are working in a cooperative way are studied. The underactuation effects on object to be controlled and on load capacity of the cooperative arms are analyzed. A hybrid control of motion and squeeze force is proposed. For the motion control, a Jacobian matrix that relates the torques in the actuated joints to the resulting force in the load is obtained. In addition, a method to compute the dynamic load-carrying capacity of cooperative manipulators with passive joints is presented. Results of the control system are verified in simulations and in an actual system formed by two cooperative arms.
Published in:
Control Systems Technology, IEEE Transactions on
(Volume:14
,
Issue:
4
)
Date of Publication: July 2006
- Page(s):
- 725 - 734
- ISSN :
- 1063-6536
- INSPEC Accession Number:
- 8976414
- Digital Object Identifier :
- 10.1109/TCST.2006.872505
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 26 June 2006
- Issue Date :
- July 2006
- Sponsored by :
- IEEE Control Systems Society
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