Romansy 13 pp 205-214 | Cite as

Dynamic Control of Multiple Joint Manipulators Interacting with Dynamic Environment

  • Atanasko Tuneski
  • Miomir Vukobratovic
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


The dynamic adaptive control of multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system are not precisely known; (iii) the system parameters do vary in a known regions about their nominal values. The proof that controller is asymptotically stable is based on the Lyapunov stability theory.


Dynamic Environment Lyapunov Stability Theory Multiple Robot Control Goal Strictly Positive Real 
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Atanasko Tuneski
    • 1
  • Miomir Vukobratovic
    • 2
  1. 1.The Faculty of Mechanical EngineeringSkopjeMacedonia
  2. 2.Robotics LaboratoryMihailo Pupin InstituteBelgradeYugoslavia

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