Enhanced Modeling and Control for Multilinked Aerial Robot With Two DoF Force Vectoring Apparatus

Stability analysis of DOF force position control for robot manipulators

In this paper we propose a force position control scheme in a DOF task space which is a generalization of the parallel control scheme in a DOF task space The con troller consists of a PD action on the position loop a PI action on the force loop together with gravity com pensation and feedforward of the desired contact force Kinestatic ltering is not used in the scheme Euler pa rameters are adop...

Robust Hybrid Motion Force Control Algorithm for Robot Manipulators

In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...

Modeling robot flexibility for endpoint force control

An Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload

In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...

Adaptive Control of Two 5 Dof Cooperating Robot Manipulators

In this paper, application of an adaptive control scheme to a cooperating robotic system consisting of two 5 DOF (RRRRR) robot manipulators is proposed. The considered dual system is used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematics problems are solved for the dual arm system. The dynamic equ...