Robust holding control of two cooperating robot manipulators

Masaru Uchiyama, Toshiaki Yamashita

    Research output: Chapter in Book/Report/Conference proceedingConference contribution


    The adaptive load sharing needed for two cooperating manipulators to hold a common object robustly is dealt with. The task vectors for describing the task are summarized, and a hybrid control scheme for the simultaneous control of the holding forces and the carrying positions is presented. Within this framework, the robust holding problem is analyzed, paying attention to the contact conditions between the manipulators and the object. The contact conditions are formulated as a set of linear inequalities with respect to the load sharing coefficients. Based on the analysis, a heuristic but very simple algorithm for the online adaptation of the load sharing coefficients for robust holding is presented.

    Original languageEnglish
    Title of host publicationProceedings of the American Control Conference
    PublisherPubl by American Automatic Control Council
    Number of pages6
    ISBN (Print)0879425652, 9780879425654
    Publication statusPublished - 1991
    EventProceedings of the 1991 American Control Conference - Boston, MA, USA
    Duration: 1991 Jun 261991 Jun 28

    Publication series

    NameProceedings of the American Control Conference
    ISSN (Print)0743-1619


    OtherProceedings of the 1991 American Control Conference
    CityBoston, MA, USA

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering


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