Stability of Cooperating Manipulators with Symmetric Position/Force Control and Time Delay
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.
KeywordsTime Delay Control Loop Force Sensor Feedback Gain Force Feedback
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