Position and force control with mass estimation for cooperative systems
The cooperative manipulation of an object by two or more robotic arms requires controlling both the object’s movement and the forces exerted by the manipulators. In terms of kinematics and static, the chosen approach is based on the so–called symmetric formulation. A control algorithm using a modifi...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politecnica de Valencia
2020-09-01
|
| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/12432 |