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Modelling and control of two coordinated robot armsTwo coordinated robot arms are modeled by considering the two arms as working on the same object simultaneously and as a closed kinematic chain. In both formulations, a novel dynamic control method is used which is based on feedback linearization and simultaneous output decoupling.
Document ID
19890022873
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Tarn, T. J. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Yun, X. (Washington University Saint Louis, MO, United States)
Bejczy, A. K. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Accession Number
89A10244
Funding Number(s)
CONTRACT_GRANT: NSF DMC-83-09527
CONTRACT_GRANT: NSF INT-85-19654
CONTRACT_GRANT: NSF ECS-85-15899
CONTRACT_GRANT: NSF DMC-85-05843
Distribution Limits
Public
Copyright
Other

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