Paper presents theoretical analysis of general problem of how to control motions of, and forces exerted by, several multiple-rigid-link robot arms that cooperatively manipulate common rigid object. Emphasis mainly on construction, via full-dynamics approach, of control laws relatively independent of dynamical models.
Analysis Of Control Of Cooperating Robot Arms
NASA Tech Briefs ; 15 , 7
01.07.1991
Sonstige
Keine Angabe
Englisch
Dynamic loads coordination for multiple cooperating robot manipulators
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