Independent force and position control for cooperating manipulators

摘要: Abstract The problem of independent force and position control multitask cooperating manipulators is studied. Each manipulator in a non-singular configuration the object can be driven by contact forces exerted end effectors manipulators. design requirement to each coordinate as well component “rest” forces, except moving that are determined uniquely from object's position. present has been proved always satisfied together with asymptotic BIBO stability. A class controllers solving above simultaneous analytically determined. proposed state feedback controller does not depend upon specific dynamics thus resulting closed-loop multimanipulator system performs required, only when handling various objects but also unknown or hard compute disturbed external forces.