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- W2047969712 abstract "A rigid body dynamical model and control architecture are developed for the closed-chain motion of two manipulators holding an object containing a spherical joint in a three-dimensional workspace. The model is first developed in the joint space and then transformed to obtain reduced order equations of motion and a separate set of equations describing the behavior of the internal stress and strain component of the generalized contract forces. The problem of solving the model for the unknown variables is discussed. A control architecture consisting of the sum of the outputs of a primary and secondary controller is suggested which, according to the model, decouples the position- and internal stress force-controlled degrees of freedom during motion of the system. The purposed composite controller enables the designer to develop independent, noninteracting control laws for the position- and internal stress force-control of the closed-chain system. Finally, the modeling and control framework is applied to the case of an object containing a revolute joint." @default.
- W2047969712 created "2016-06-24" @default.
- W2047969712 creator A5006704239 @default.
- W2047969712 date "1992-01-01" @default.
- W2047969712 modified "2023-09-24" @default.
- W2047969712 title "A rigid body model and decoupled control architecture for two manipulators holding a complex object" @default.
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- W2047969712 doi "https://doi.org/10.1016/0921-8890(92)90021-p" @default.
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