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Force regulation in multiple-manipulator systemsA new intuitively appealing interpretation of the internal force in a multiple-arm system is presented. The static gravity-free case is considered where internal force has a well-founded physical meaning. The case is extended to the general dynamic case by removing the inertial force through balancing it with the minimum amount of contact force. The remaining component in the contact force is considered to be the sole contributor to the inertial force. Existing techniques for force control can be used to obtain various stabilizing force set point control laws. Particular attention is given to the motion control strategy for multiple arm systems. Three types of control laws, feedback linearization, arms-as-actuators, and passive control, are addressed. The first two techniques provide simplified control tuning but require much model information. The latter approach is considered to be very robust with respect to the model, but good transient performance is more challenging to obtain. It is suggested to combine one of the model-based approaches with the passive control approach.
Document ID
19930043023
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Wen, John T.
(NASA Headquarters Washington, DC United States)
Murphy, Steve H.
(NASA Center for Intelligent Robotic Systems for Space Exploration; Rensselaer Polytechnic Inst. Troy, NY, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Cooperative intelligent robotics in space II; Proceedings of the Meeting, Boston, MA, Nov. 12-14, 1991 (A93-27001 09-54)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Cybernetics
Accession Number
93A27020
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
Distribution Limits
Public
Copyright
Other

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