Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.


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    Title :

    Position And Force Control For Multiple-Arm Robots


    Contributors:

    Published in:

    Publication date :

    1988-01-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English






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