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Conference Paper: Nonlinear control of dual-robot pushing and pulling with force regulation

TitleNonlinear control of dual-robot pushing and pulling with force regulation
Authors
Issue Date1995
Citation
Proceedings of the IEEE Conference on Decision and Control, 1995, v. 4, p. 4059-4064 How to Cite?
AbstractIn this paper nonlinear control problems in dual-robot cooperation are discussed. First the effect of joint motor dynamics on the force control is discussed. Using the joint position, joint velocity and wrist force/torque sensor measurements a task-level nonlinear controller is formulated with the consideration of joint motor dynamics. Several important issues related to the practical implementation of the nonlinear control method are also addressed. Finally, the experimental results of single arm contact control as well as dual-arm pushing and pulling will be used to further illustrate the points discussed in this paper.
Persistent Identifierhttp://hdl.handle.net/10722/212667
ISSN

 

DC FieldValueLanguage
dc.contributor.authorTarn, T. J.-
dc.contributor.authorXi, Ning-
dc.contributor.authorRamadorai, A. K.-
dc.date.accessioned2015-07-28T04:04:37Z-
dc.date.available2015-07-28T04:04:37Z-
dc.date.issued1995-
dc.identifier.citationProceedings of the IEEE Conference on Decision and Control, 1995, v. 4, p. 4059-4064-
dc.identifier.issn0191-2216-
dc.identifier.urihttp://hdl.handle.net/10722/212667-
dc.description.abstractIn this paper nonlinear control problems in dual-robot cooperation are discussed. First the effect of joint motor dynamics on the force control is discussed. Using the joint position, joint velocity and wrist force/torque sensor measurements a task-level nonlinear controller is formulated with the consideration of joint motor dynamics. Several important issues related to the practical implementation of the nonlinear control method are also addressed. Finally, the experimental results of single arm contact control as well as dual-arm pushing and pulling will be used to further illustrate the points discussed in this paper.-
dc.languageeng-
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Control-
dc.titleNonlinear control of dual-robot pushing and pulling with force regulation-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0029533602-
dc.identifier.volume4-
dc.identifier.spage4059-
dc.identifier.epage4064-

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