Reduced Order Model and Decoupled Control of TWO Cooperating Manipulators for Moving an Object

단일물체 이동작업을 위한 두 협동 매니퓰레이터의 감소차수 모델과 감결합 제어

In this paper, dynamical model and control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object. Controller consist of forward controller which is reduced order model and compensator that compensates for modeling error. Control laws are determined so as to decouple the force and position controlled degree of freedom(DOF) during motion of the system.