This is a preview of subscription content, log in via an institution to check access.
Preview
Unable to display preview. Download preview PDF.
References
Y. Nakamura, K. Nagai, and T. Yoshikawa, “Mechanics of coordinative manipulation by multiple robotic mechanisms,” Proc. 1987 IEEE Int. Conf. on Robotics and Automation, Raleigh, NC, 991–998, 1987.
Z. Li, P. Hsu, and S. Sastry, “Grasping and coordinated manipulation by a multifingered robot hand,” Int. J. of Robotics Research, 8(4), 33–50, 1989.
P. Dauchez, Descriptions de tâches en vue de la commande hybride symétrique d'un robot manipulateur a deux bras, Thèse d'Etat, Université des Sciences et Techniques du Languedoc, Montpellier, F, 1990.
M. Uchiyama and P. Dauchez, “Symmetric kinematic formulation and non-master/slave coordinated control of two-arm robots,” Advanced Robotics, 7, 361–383, 1993.
P. Chiacchio, S. Chiaverini, and B. Siciliano, “Direct and inverse kinematics for coordinated motion tasks of a two-manipulator system,” Trans. ASME J. of Dynamic Systems, Measurement, and Control, 118, 691–697, 1996.
L. Sciavicco and B. Siciliano, Modeling and control of robot manipulators, McGraw-Hill, New York, 1996.
B. Siciliano, “A closed-loop inverse kinematic scheme for on-line joint-based robot control,” Robotica, 8, 231–243, 1990.
P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, “Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy,” Int. J. of Robotics Research, 10, 410–425, 1991.
A. Balestrino, G. De Maria, L. Sciavicco, “Robust control of robotic manipulators,” Prep. 9th IFAC World Congress, Budapest, H, 6, 80–85, 1984.
Y. Nakamura and H. Hanafusa, “Inverse kinematic solution with singularity robustness for robot manipulator control,” Trans. ASME J. of Dynamic Systems, Measurements, and Control, 108, 163–171, 1986.
C.W. Wampler, “Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods,” IEEE Trans. on Systems, Man, and Cybernetics, 16, 93–101, 1986.
Y. Nakamura, H. Hanafusa, and T. Yoshikawa, “Task-priority based redundancy control of robot manipulators,” Int. J. of Robotics Research, 6(2), 3–15, 1987.
J.Y.S. Luh and Y.F. Zheng, “Constrained relations between two coordinated industrial robots for motion control,” Int. J. of Robotics Research, 6(3), 60–70, 1987.
P. Chiacchio, S. Chiaverini, L. Sciavicco, and B. Siciliano, “Global task space manipulability ellipsoids for multiple arm systems,” IEEE Trans. on Robotics and Automation, 7, 678–685, 1991.
I.D. Walker, R.A. Freeman, and S.I. Marcus, “Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators,” Int. J. of Robotics Research, 10, 396–409, 1991.
H. Lipkin and J. Duffy, “Hybrid twist and wrench control for a robotic manipulator,” Trans. ASME J. of Mechanisms, Transmissions, and Automation in Design, 110, 138–144, 1988.
J.T. Wen and K. Kreutz, “Motion and force control of multiple robotic manipulators,” Automatica, 28, 729–743, 1992.
P. Chiacchio and S. Chiaverini, “PD-type control schemes for cooperative manipulator systems,” Int. J. of Intelligent Automation and Soft Computing, 2, 65–72, 1996.
J.-J.E. Slotine and W. Li, Applied nonlinear control, Prentice-Hall, Englewood Cliffs, NJ, 1991.
F. Caccavale, P. Chiacchio and S. Chiaverini, “Stability analysis of a joint space control law for a two-manipulator system,” Proc. 35th Conf. on Decision and Control, Kobe, J, 3008–3013, 1996.
F. Caccavale, P. Chiacchio and S. Chiaverini, “Stability analysis of a joint space control law for a two-manipulator system,” IEEE Trans. on Automatic Control, to appear, 1997.
P. Tomei, “Adaptive PD controller for robot manipulators,” IEEE Transactions on Robotics and Automation, vol. 7, no. 4, pp. 565–570, 1991.
F. Caccavale, P. Chiacchio, S. Chiaverini, B. Siciliano, “Experiments of kinematic control on a two-robot system,” Prep. 11th CISM-IFToMM Symposium on theory and Practice of Robot Manipulators, Udine, I, 1996.
Editor information
Rights and permissions
Copyright information
© 1998 Springer-Verlag London Limited
About this chapter
Cite this chapter
(1998). Chapter 3 Kinematic control of dual-arm systems. In: Chiacchio, P., Chiaverini, S. (eds) Complex Robotic Systems. Lecture Notes in Control and Information Sciences, vol 233. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035185
Download citation
DOI: https://doi.org/10.1007/BFb0035185
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76265-2
Online ISBN: 978-3-540-40904-5
eBook Packages: Springer Book Archive