Romansy 13 pp 187-195 | Cite as

Stability of Cooperating Manipulators with Symmetric Position/Force Control and Time Delay

  • Anatoli Schneider
  • Igor Zeidis
  • Klaus Zimmermann
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


The mathematical model and stability of motion of two cooperating manipulators is considered. The high order equations of this model make the mathematical analysis of the stability more difficult. By using a symmetrical control scheme with time delay in a feedback loop, we have obtained the domains of stability and non-stability for such parameters of the system as coefficients of gains, stiffness, of force sensors, time delay in the control loop, and mass of load.


Time Delay Control Loop Force Sensor Feedback Gain Force Feedback 


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Anatoli Schneider
    • 1
  • Igor Zeidis
    • 2
  • Klaus Zimmermann
    • 2
  1. 1.Department of AutomationFraunhofer Institute for Factory Operation and AutomationMagdeburgGermany
  2. 2.Department of Technical MechanicsIlmenau Technical UniversityGermany

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