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Conference Paper: Nonlinear control of dual-robot pushing and pulling with force regulation
| Title | Nonlinear control of dual-robot pushing and pulling with force regulation |
|---|---|
| Authors | |
| Issue Date | 1995 |
| Citation | Proceedings of the IEEE Conference on Decision and Control, 1995, v. 4, p. 4059-4064 How to Cite? |
| Abstract | In 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 Identifier | http://hdl.handle.net/10722/212667 |
| ISSN | 2020 SCImago Journal Rankings: 0.395 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Tarn, T. J. | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Ramadorai, A. K. | - |
| dc.date.accessioned | 2015-07-28T04:04:37Z | - |
| dc.date.available | 2015-07-28T04:04:37Z | - |
| dc.date.issued | 1995 | - |
| dc.identifier.citation | Proceedings of the IEEE Conference on Decision and Control, 1995, v. 4, p. 4059-4064 | - |
| dc.identifier.issn | 0191-2216 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212667 | - |
| dc.description.abstract | In 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.language | eng | - |
| dc.relation.ispartof | Proceedings of the IEEE Conference on Decision and Control | - |
| dc.title | Nonlinear control of dual-robot pushing and pulling with force regulation | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0029533602 | - |
| dc.identifier.volume | 4 | - |
| dc.identifier.spage | 4059 | - |
| dc.identifier.epage | 4064 | - |
| dc.identifier.issnl | 0191-2216 | - |