Force regulation in multiple-manipulator systems

John T. Wen; Steve H. Murphy

doi:10.1117/12.56758

1 March 1992 Force regulation in multiple-manipulator systems

John T. Wen, Steve H. Murphy

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56758
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

Despite the recent progress in the motion and force control of multiple manipulators, there has been a continuing question about which physical force should be and can be controlled. The frequently used orthogonal decomposition is plagued by a unit inconsistency problem, rendering its physical interpretation difficult if not impossible. This paper introduces a new and intuitively appealing concept of internal force, and shows how its regulation can be handled by the existing approaches.

Citation Download Citation

John T. Wen and Steve H. Murphy "Force regulation in multiple-manipulator systems", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56758

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