Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object
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概要
- 論文の詳細を見る
This paper presents an adaptive decentralized coordinated control method for multiple robot arms grasping a common object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model and each robot controller works independently as hybrid adaptive controller. The asymptotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Experimental comparisons between adaptive control with force sensor and one without force sensor for the two robot arms grasping a common object are shown.
- 一般社団法人日本機械学会の論文
- 2005-12-15
著者
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Ito Satoshi
Faculty Of Agriculture University Of Miyazaki
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Ito Satoshi
Faculty Of Engineering Gifu University
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Ramli Rizauddin
Faculty Of Engineering Gifu University
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KAWASAKI Haruhisa
Faculty of Engineering, Gifu University
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Kawasaki Haruhisa
Faculty Of Engineering Gifu University
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