by Zribi, M, Karkoub, M and Huang, L
Abstract:
In this paper, the problem of modelling and controlling two manipulators handling a constrained object is addressed. At first, a reduced order dynamic model of the system is derived, and several of its properties are outlined. Using the reduced order model, an adaptive control scheme that guarantees the asymptotic convergence of the position of the object, and the forces acting on the object to their desired values is developed. Simulation results of two planar robots moving an object along a plane illustrate the effectiveness of the proposed control scheme. (C) 2000 Elsevier Science Inc. All rights reserved.
Reference:
Modelling and control of two robotic manipulators handling a constrained object (Zribi, M, Karkoub, M and Huang, L), In Applied Mathematical Modelling, Elsevier Science Inc, volume 24, 2000.
Bibtex Entry:
@article{zribi2000modellingobject,
author = "Zribi, M and Karkoub, M and Huang, L",
journal = "Applied Mathematical Modelling",
month = "Oct",
pages = "881--898",
publisher = "Elsevier Science Inc",
title = "Modelling and control of two robotic manipulators handling a constrained object",
volume = "24",
year = "2000",
abstract = "In this paper, the problem of modelling and controlling two manipulators handling a constrained object is addressed. At first, a reduced order dynamic model of the system is derived, and several of its properties are outlined. Using the reduced order model, an adaptive control scheme that guarantees the asymptotic convergence of the position of the object, and the forces acting on the object to their desired values is developed. Simulation results of two planar robots moving an object along a plane illustrate the effectiveness of the proposed control scheme. (C) 2000 Elsevier Science Inc. All rights reserved.",
doi = "10.1016/S0307-904X(00)00022-6",
issn = "0307-904X",
issue = "12",
keyword = "Adaptive control",
keyword = "Constrained multiple robots",
keyword = "Modelling",
language = "eng",
pii = "S0307904X00000226",
}