Robust Cooperative Manipulation Without Force/Torque Measurements: Control Design and Experiments
نویسندگان
چکیده
منابع مشابه
Robust Cooperative Manipulation without Force/Torque Measurements: Control Design and Experiments
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid potential representation singularities. Secondly, we propose a control protocol that guarantees predefined transient and steadystate performance for the object ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Control Systems Technology
سال: 2020
ISSN: 1063-6536,1558-0865,2374-0159
DOI: 10.1109/tcst.2018.2885682