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Position And Force Control For Multiple-Arm RobotsNumber of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.
Document ID
19880000022
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Hayati, Samad A.
(Caltech)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Publication Information
Publication: NASA Tech Briefs
Volume: 12
Issue: 1
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-16811
Accession Number
88B10022
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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