1 March 1992 Force regulation in multiple-manipulator systems
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Despite the recent progress in the motion and force control of multiple manipulators, there has been a continuing question about which physical force should be and can be controlled. The frequently used orthogonal decomposition is plagued by a unit inconsistency problem, rendering its physical interpretation difficult if not impossible. This paper introduces a new and intuitively appealing concept of internal force, and shows how its regulation can be handled by the existing approaches.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
John T. Wen, John T. Wen, Steve H. Murphy, Steve H. Murphy, "Force regulation in multiple-manipulator systems", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56758; https://doi.org/10.1117/12.56758

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