Modelling and control of two robotic manipulators handling a constrained object Academic Article

abstract

• In this paper, the problem of modelling and controlling two manipulators handling a constrained object is addressed. At first, a reduced order dynamic model of the system is derived, and several of its properties are outlined. Using the reduced order model, an adaptive control scheme that guarantees the asymptotic convergence of the position of the object, and the forces acting on the object to their desired values is developed. Simulation results of two planar robots moving an object along a plane illustrate the effectiveness of the proposed control scheme. (C) 2000 Elsevier Science Inc. All rights reserved.

authors

• Karkoub, Mansour

published proceedings

• APPLIED MATHEMATICAL MODELLING

author list (cited authors)

• Zribi, M., Karkoub, M., & Huang, L. L.

citation count

• 22

complete list of authors

• Zribi, M||Karkoub, M||Huang, LL

publication date

• October 2000

publisher

• Elsevier  Publisher

keywords

• Adaptive Control
• Constrained Multiple Robots
• Modelling

Digital Object Identifier (DOI)

• 10.1016/S0307-904X(00)00022-6

start page

• 881

end page

• 898

volume

• 24

issue

• 12

URL

• http://dx.doi.org/10.1016/s0307-904x(00)00022-6