Abstract
This paper describes an internal force control for cooperating manipulators under consideration of parameters of a grasped object. In the proposed approach, first, the parameters of the grasped object are estimated by using the internal force that is computed from the detected force at each end-effector. Then we also introduce the impedance control and the position command is determined based on the parameters of the grasped object. This makes it possible to realize the position control of the grasped object and the internal force control independently of the unknown parameters of the object. This is one of the remarkable points of our approach. Several numerical results are also shown to confirm the validity of the proposed controller.
| Original language | English |
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| Pages | 895-900 |
| Number of pages | 6 |
| Publication status | Published - 1997 Dec 1 |
| Event | Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) - Guimaraes, Portugal Duration: 1997 Jul 7 → 1997 Jul 11 |
Other
| Other | Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) |
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| City | Guimaraes, Portugal |
| Period | 97/7/7 → 97/7/11 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering