This paper presents a new control strategy for a system of two cooperative manipulators tightly grasping a common rigid object. The reference joint trajectories realizing a coordinated motion are assumed to be available. Differently from pure joint space control schemes, the proposed strategy leads to a controller acting in the object space which still uses joint errors. A case study is developed for a system of two planar manipulators.
An object space control scheme for cooperative manipulators / P., Chiacchio; S., Chiaverini; Siciliano, Bruno. - STAMPA. - 1:(1994), pp. 212-215. (Intervento presentato al convegno American Control Conference tenutosi a Baltimore, MD nel 1994) [10.1109/ACC.1994.751726].
An object space control scheme for cooperative manipulators
SICILIANO, BRUNO
1994
Abstract
This paper presents a new control strategy for a system of two cooperative manipulators tightly grasping a common rigid object. The reference joint trajectories realizing a coordinated motion are assumed to be available. Differently from pure joint space control schemes, the proposed strategy leads to a controller acting in the object space which still uses joint errors. A case study is developed for a system of two planar manipulators.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
