COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS.

H. Kazerooni, James Tsing-Iuan Tsay

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

6 Citations (Scopus)

Abstract

The control strategy of two cooperating robots is described. A two-fingered hand is an example of such a system. A control architecture is proposed that guarantees: (1) each robot end-point follows its position input command vector 'closely' when the robots are not in contact with each other, and (2) when the two robots come in contact with each other, one robot controls the position of the contact point, while the other controls the contact force. The controller does not need any hardware or software switch for the transition between unconstrained and constrained maneuvering of each robot.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages510-515
Number of pages6
ISBN (Print)0818608528
Publication statusPublished - 1988 Jan 1

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Compliance control
Robots
Point contacts
End effectors
Switches
Hardware
Controllers

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Kazerooni, H., & Tsay, J. T-I. (1988). COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS. In Unknown Host Publication Title (pp. 510-515). IEEE.
Kazerooni, H. ; Tsay, James Tsing-Iuan. / COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS. Unknown Host Publication Title. IEEE, 1988. pp. 510-515
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Kazerooni, H & Tsay, JT-I 1988, COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS. in Unknown Host Publication Title. IEEE, pp. 510-515.

COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS. / Kazerooni, H.; Tsay, James Tsing-Iuan.

Unknown Host Publication Title. IEEE, 1988. p. 510-515.

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

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Kazerooni H, Tsay JT-I. COMPLIANCE CONTROL AND UNSTRUCTURED MODELING OF COOPERATING ROBOTS. In Unknown Host Publication Title. IEEE. 1988. p. 510-515