We consider the dynamics and control of two or more multi-link robot manipulators cooperatively maneuvering a rigid payload. The redundantly actuated case is considered and trajectory tracking control laws are derived to account for the uncertain payload properties but ensuring stable tracking error dynamics. The dynamics of the constrained system is projected on to the null space of the constraints and is shown that this reduces the parameterization of the controller greatly. The control law is shown to be robust against large payload errors.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Model reference adaptive control of constrained cooperative manipulators


    Beteiligte:
    Subbarao, K. (Autor:in) / Verma, A. (Autor:in) / Junkins, J.L. (Autor:in)


    Erscheinungsdatum :

    01.01.2001


    Format / Umfang :

    555790 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Model-Based Adaptive Control for Geometrically Constrained Manipulators

    Naniwa, T. / Arimoto, S. / Whitcomb, L. L. et al. | British Library Online Contents | 1995


    Model-Based Adaptive Control for Geometrically Constrained Robot Manipulators

    Naniwa, T. / Arimoto, S. | British Library Online Contents | 1995