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.
Model reference adaptive control of constrained cooperative manipulators
2001-01-01
555790 byte
Conference paper
Electronic Resource
English
Model-Based Adaptive Control for Geometrically Constrained Manipulators
British Library Online Contents | 1995
|Model-Based Adaptive Control for Geometrically Constrained Robot Manipulators
British Library Online Contents | 1995
|