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Analysis Of Control Of Cooperating Robot ArmsPaper 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.
Document ID
19910000351
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Kreutz, Kenneth K. (Caltech)
Wen, John Ting-Yung (Rensselaer Polytechnic Inst.)
Date Acquired
August 14, 2013
Publication Date
July 1, 1991
Publication Information
Publication: NASA Tech Briefs
Volume: 15
Issue: 7
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-17789
Accession Number
91B10351
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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