Control and stability analysis of cooperating robots.

H. Kazerooni, T. I. Tsay

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


The control strategy of two cooperating robots is considered. 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 compliancy in either robot. The initial compliancy in the robots can be obtained by a nonzero sensitivity function for the tracking controller or a passive compliant element such as an RCC (remote center compliance).

Original languageEnglish
Pages (from-to)1382-1386
Number of pages5
JournalProceedings of the American Control Conference
Volume88 pt 1-3
Publication statusPublished - 1988

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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