Control of cooperative manipulators with passive joints

被引：0

作者：

Tinós, R ^{[1
]}

Terra, MH ^{[1
]}

机构：

[1] Univ Sao Paulo, Dept Elect Engn, EESC, BR-13560970 Sao Carlos, SP, Brazil

来源：

PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2002年 / 1-6卷

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The problem of the control of cooperative manipulators with passive joints and rigidly connected to a solid object is addressed in this paper. Passive joints can appear due to free-swinging joint failures or can be an intrinsic characteristic of the robots. A hybrid control of motion and squeeze force is proposed. For this purpose, a Jacobian matrix relating velocities in the actuated joints and load velocity is obtained based on the kinematic constraints of the cooperative system. Re sults of the control system applied in simulations and in real robots are presented.

引用

页码：1129 / 1134

页数：6

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