Abstract
This chapter is devoted to presentation of two new approaches for controlling a dual-arm robotic system, namely a loose cooperative strategy and a tight cooperative strategy. The former is based on a modular control architecture which usefully exploits the task interaction control schemes presented in the last two chapters. The latter is aimed at controlling the interaction of an object, commonly held by the two arms, with a compliant environment.
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© 2003 Springer-Verlag Berlin Heidelberg
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(2003). Applications to a Dual-Robot System. In: Interaction Control of Robot Manipulators. Springer Tracts in Advanced Robotics, vol 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36155-3_5
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DOI: https://doi.org/10.1007/3-540-36155-3_5
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00159-1
Online ISBN: 978-3-540-36155-8
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