Compliance Control and Stability Analysis of Cooperating Robot manipulators

Abstract

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… (More)
DOI: 10.1017/S0263574700006044

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