This paper describes an internal force control for cooperating manipulators under consideration of parameters of a grasped object. In the proposed approach, first, the parameters of the grasped object are estimated by using the internal force that is computed from the detected force at each end-effector. Then we also introduce the impedance control and the position command is determined based on the parameters of the grasped object. This makes it possible to realize the position control of the grasped object and the internal force control independently of the unknown parameters of the object. This is one of the remarkable points of our approach. Several numerical results are also shown to confirm the validity of the proposed controller.
|出版ステータス||Published - 1997 12月 1|
|イベント||Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) - Guimaraes, Portugal|
継続期間: 1997 7月 7 → 1997 7月 11
|Other||Proceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3)|
|Period||97/7/7 → 97/7/11|
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