Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics
نویسندگان
چکیده
منابع مشابه
Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics
This article presents a decentralized control scheme for the complex problem of simultaneous position and internal force control in cooperative multiple manipulator systems. The proposed controller is composed of a sliding mode control term and a force robustifying term to simultaneously control the payload’s position/orientation as well as the internal forces induced in the system. This is acc...
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ژورنال
عنوان ژورنال: Journal of the Franklin Institute
سال: 2017
ISSN: 0016-0032
DOI: 10.1016/j.jfranklin.2017.09.015