The problem of modelling and controlling the impact between the end-effectors of two cooperating planar two-link manipulators is considered in this paper. The motion equations of the robots are determined both in the contact condition and in the non-contact one. The proposed control scheme allows the global asymptotic regulation of the robot arms to a desired configuration, with a prescribed contact force, by utilizing the estimate of the impact-induced forces provided by reduced-order observers. Simulation results confirm the theoretical effectiveness of the proposed algorithm.

Indri, M., & Tornambe, A. (1997). Impact model and control of two cooperating planar manipulators. In Proceedings of the American Control Conference (pp.101-105). Piscataway, NJ, United States : IEEE [10.1109/ACC.1997.611763].

Impact model and control of two cooperating planar manipulators

Tornambe, Antonio
1997

Abstract

The problem of modelling and controlling the impact between the end-effectors of two cooperating planar two-link manipulators is considered in this paper. The motion equations of the robots are determined both in the contact condition and in the non-contact one. The proposed control scheme allows the global asymptotic regulation of the robot arms to a desired configuration, with a prescribed contact force, by utilizing the estimate of the impact-induced forces provided by reduced-order observers. Simulation results confirm the theoretical effectiveness of the proposed algorithm.
Proceedings of the 1997 American Control Conference. Part 3 (of 6)
Albuquerque, NM, USA, null
1997
IEEE
Rilevanza internazionale
Settore ING-INF/04 - Automatica
English
Control and Systems Engineering
Intervento a convegno
Indri, M., & Tornambe, A. (1997). Impact model and control of two cooperating planar manipulators. In Proceedings of the American Control Conference (pp.101-105). Piscataway, NJ, United States : IEEE [10.1109/ACC.1997.611763].
Indri, M; Tornambe, A
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/193676
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