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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Azadi, Mohammad Eghtesad, Mohammad Gharesifard, Bahman |
| Copyright Year | 2005 |
| Abstract | In this paper, application of an inverse dynamics 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 between on a desired trajectory between two desired initial and end position/orientation. The appropriate path is designed to start and end with the lowest velocity and acceleration at the desired points and the inverse kinematics is solved for the dual arm. The dynamic equations of motion for two arms and the payload are determined and the constraints are utilized to obtain the complete required equations. Simulation results are provided to illustrate the performance of the control algorithm. The robustness of the proposed control scheme is verified in the presence of disturbance and parameter uncertainty. |
| Sponsorship | Design Engineering Division and Computers and Information in Engineering Division |
| Starting Page | 187 |
| Ending Page | 193 |
| Page Count | 7 |
| File Format | |
| ISBN | 0791847411 |
| DOI | 10.1115/DETC2005-85634 |
| e-ISBN | 0791837661 |
| Volume Number | Volume 4a: ASME/IEEE Conference on Mechatronic and Embedded Systems and Applications |
| Conference Proceedings | ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2005-09-24 |
| Publisher Place | Long Beach, California, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Inverse dynamics control scheme Cooperating robots 5 dof robot manipulator Dynamics (mechanics) Manipulators |
| Content Type | Text |
| Resource Type | Article |
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