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Nonlinear feedback control of multiple robot armsMultiple coordinated robot arms are modeled by considering the arms: (1) as closed kinematic chains, and (2) as a force constrained mechanical system working on the same object simultaneously. In both formulations a new dynamic control method is discussed. It is based on a feedback linearization and simultaneous output decoupling technique. Applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation, researchers can superimpose the position and velocity error feedback with the force-torque error feedback in the task space simultaneously.
Document ID
19890017188
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Tarn, T. J. (Washington Univ. Saint Louis, MO., United States)
Yun, X. (Washington Univ. Saint Louis, MO., United States)
Bejczy, A. K. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
September 6, 2013
Publication Date
July 1, 1987
Publication Information
Publication: Proceedings of the Workshop on Space Telerobotics, Volume 3
Subject Category
Mechanical Engineering
Accession Number
89N26559
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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