두 협동로보트를 위한 동력학 Hybrid 위치/힘 제어기

Dynamic hybrid position/force controller for two cooperating robots

In this paper, we propose dynamic hybrid control method which takes the manipulator dynamics into consideration and extend to two cooperating robots. The first step is the linearization of the manipulator dynamics and the second step is the design of position/force controllers for the linearized model which takes account of both the command response and the robustness of the controllers to modeling errors and disturbance. We also consider load sharing for each robot.