Hostname: page-component-7b7567c8c-fvjsw Total loading time: 0 Render date: 2026-11-14T19:15:21.237Z Has data issue: false hasContentIssue false
  • English
  • Français

Compliance Control and Stability Analysis of Cooperating Robot manipulators

Published online by Cambridge University Press:  09 March 2009

H. Kazerooni
H. Kazerooni
Affiliation:
Mechanical Engineering Department, 111 Church Street SEUniversity of Minnesota Minneapolis, Minnesota, 55455 (USA)
Get accessRights & Permissions [Opens in a new window]

Summary

The work presented here is the description of the control strategy of two cooperating robots. A two–finger hand is an example of such a System. The control method allows for position control of the contact point by one of the robots while the other robot controls the contact force. The stability analysis of two robot manipulators has been investigated using unstructured models for dynamic behavior of robot manipulators. For the stability of two robots, there must be some initial compliance in either robot. The initial compliance in the robots can be obtained by a non-zero sensitivity function for the tracking controller or a passive compliant element such as an RCC.

Keywords

ComplianceStability analysisCooperating robotsControl strategy

Information

Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989, pp. 191 - 198
Copyright
Copyright © Cambridge University Press 1989

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Kazerooni, H., Sheridan, T.B. and Houpt, P.K., “Robust Complaint Motion for Manipulators, Part I: The Fundamental Concepts of Compilant Motion”, IEEE J. Robotics and Automation 2, No. 2, 83–92 (June, 1986)CrossRefGoogle Scholar
2.Kazerooni, H., Sheridan, T.B. and Houpt, P.K., “Robust Compliant Motion for Manipulators, Part II: A Design Method” IEEE J. Robotics and Automation 2, No. 2, 93–105 (June, 1986)CrossRefGoogle Scholar
3.Kazerooni, H., “Direct Drive Active Compliant End–Effector (Active RCC)” IEEE J. Robotics and Automation 4, No. 3, 324–333 (06, 1988)CrossRefGoogle Scholar
4.Kazerooni, H. and Tsay, T.I., “On the Stability of the Robot Compliant Motion Control” In: Proceedings of the IEEE Robotics and Automation Conference, Philadelphia, PA 2. 1166–1172 (04, 1988)Google Scholar
5.Spong, M.W. and Vidyasagar, M., “Robust Nonlinear Control of Robot Manipulators” IEEE Conference on Decision and Control, 1767 (12, 1985)Google Scholar
6.Vidyasagar, M., Nonlinear Systems Analysis (Prentice–Hall: Englewood Cliffs, New Jersey, 1978).Google Scholar
7.Vidyasagar, M. and Desoer, C. A., Feedback Systems: Input–Output Properties, (Academic Press New York, NY, 1975).Google Scholar
8.Lehtomaki, N.A., Sandell, N.R. and Athans, M., “Robustness Results in Linear–Quadratic Gaussian Based Multivariable Control Designs” IEEE Transaction on Automatic Control AC26, No. 1, 75–92 (02, 1981).CrossRefGoogle Scholar