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Local joint control in cooperating manipulator systems - force distribution and global stability

Published online by Cambridge University Press:  09 March 2009

Greg R. Luecke  and
John F. Gardner
Greg R. Luecke
Affiliation:
Department of Mechanical Engineering, Iowa State University, Ames, IA 50011 (USA).
John F. Gardner
Affiliation:
Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802 (USA.
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Summary

Almost all industrial robot applications in use today are controlled using a control law that is simple and computationally efficient, local joint error feedback. When two or more open chain manipulators cooperate to manipulate the same object - such as in mechanical grippers, walking machines, and cooperating manipulator systems - closed kinematic chain, redundantly actuated mechanisms are formed. Control approaches for this type of system focus on the more computationally intensive computed torque or inverse plant control laws, due to the concern over instability caused by the unspecified distribution of control forces in the redundant actuator space, and due to the constrained motion caused by the closed kinematic chains.

Keywords

Co-operating robotsLocal joint controlForce distributionGlobal stabilityClosed chain manipulators.
Type
Research Article
Information
Robotica , Volume 11 , Issue 2 , March 1993 , pp. 111 - 118
Copyright
Copyright © Cambridge University Press 1993

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