Reduced order model and decoupled control architecture for two manipulators holding an object

@inproceedings{Unseren1989ReducedOM,
  title={Reduced order model and decoupled control architecture for two manipulators holding an object},
  author={Michael A. Unseren and Antti J. Koivo},
  booktitle={ICRA},
  year={1989}
}
A dynamical model and a control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic collstraints are determined and combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joii space. Reduced order equations of motion and a functional dation for the generalized contact forces are developed. The problem of solving the reduced… CONTINUE READING

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