EXPERIMENTAL RESULTS FOR FORCE DISTRIBUTION IN COOPERATING MANIPULATOR SYSTEMS USING LOCAL JOINT CONTROL

被引：6

作者：

LUECKE, GR ^{[1
]}

GARDNER, JF ^{[1
]}

机构：

[1] PENN STATE UNIV,DEPT MECH ENGN,UNIVERSITY PK,PA 16802

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1994年 / 13卷 / 06期

关键词：

D O I：

10.1177/027836499401300601

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Local control schemes using only position and rate errors to generate control forces are widely used for control of open-chain, serial-link robotic mechanisms. When two or more such open chains interact, closed kinematic chain, redundantly actuated mechanisms are formed. Recent work has shown that the vector of joint forces produced using a local proportional-plus-derivative feedback scheme for the control of a cooperating manipulator system results in a vector of joint torques with a minimum weighted Euclidean norm. The current work presents the derivation of this force distribution and experimental evidence to corroborate the analytic results. The data presented are obtained from an experimental cooperating manipulator system developed specifically for use in the application of theoretical control approaches in cooperating hardware systems.

引用

页码：471 / 480

页数：10

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