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An approach to simultaneous control of trajectory and interaction forces in dual-arm configurationsAn approach to the control of constrained dynamic systems such as multiple arm systems, multifingered grippers, and walking vehicles is described. The basic philosophy is to utilize a minimal set of inputs to control the trajectory and the surplus input to control the constraint or interaction forces and moments in the closed chain. A dynamic control model for the closed chain is derived that is suitable for designing a controller in which the trajectory and the interaction forces and moments are explicitly controlled. Nonlinear feedback techniques derived from differential geometry are then applied to linearize and decouple the nonlinear model. These ideas are illustrated through a planar example in which two arms are used for cooperative manipulation. Results from a simulation are used to illustrate the efficacy of the method.
Document ID
19920031635
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Yun, Xiaoping
(Pennsylvania Univ. Philadelphia, PA, United States)
Kumar, Vijay R.
(Pennsylvania, University Philadelphia, United States)
Date Acquired
August 15, 2013
Publication Date
October 1, 1991
Publication Information
Publication: IEEE Transactions on Robotics and Automation
Volume: 7
ISSN: 1042-296X
Subject Category
Cybernetics
Accession Number
92A14259
Funding Number(s)
CONTRACT_GRANT: NSF INT-85-14199
CONTRACT_GRANT: DAAG29-84-K-0061
CONTRACT_GRANT: NSF DCR-82-19196
CONTRACT_GRANT: NSF DMC-85-17315
CONTRACT_GRANT: NAG5-1045
CONTRACT_GRANT: AF-AFOSR-88-0244
CONTRACT_GRANT: AF-AFOSR-0186
Distribution Limits
Public
Copyright
Other

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