Dynamic control of multi-arm co-operating manipulator systems

Authors:
Anjan Kumar Swain;Alan S. Morris
Affiliations:
Department of Electrical Engineering, Indira Gandhi Institute of Technology, Sarang, India. E-mail: swainanjan@hotmail.com;Department of Automatic Control and Systems Engineering, University of Sheffield, UK E-mail: a.morris@sheffield.ac.uk
Venue:
Robotica
Year:
2004

Citing 6
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Abstract

This paper deseribes the control of multi-arm co-operating manipulator systems handling a common object. Inverse dynamics controllers with motive force compensation are developed for the co-operating fixed-base, free-floating, and free-flying space manipulator systems. Further, the relative performances of all the three configurations are compared on two tracking problems.