Control and Stability Analysis of Cooperating Robots

1988 ◽  
Author(s):  
H. Kazerooni ◽  
T. I. Tsay
Keyword(s):  
Stability Analysis ◽  
Cooperating Robots

Compliance Control and Stability Analysis of Cooperating Robot manipulators

Robotica ◽  
1989 ◽  
Vol 7 (3) ◽  
pp. 191-198 ◽  
Author(s):  
H. Kazerooni
Keyword(s):  
Stability Analysis ◽  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Contact Point ◽  
Sensitivity Function ◽  
Compliance Control ◽  
Cooperating Robots ◽  
The Stability

SUMMARYThe 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.

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