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- W3173866148 abstract "When a multi-manipulator system is employed to carry out a capturing task, the hardware closed chain is formed. The capturing process with hardware closed chain may fail when the robot control system has non-negligible time delay. In this paper, the mathematical model of the capturing system is built and simplified for a feasible stability analysis. Three-dimensional root-locus is applied to explore the system stable condition and promote the stable capturing strategy. Simulations are carried out to validate the proposed theory and the results show that the system controlled by the strategy shows a considerable convergence." @default.
- W3173866148 created "2021-07-05" @default.
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- W3173866148 date "2021-04-23" @default.
- W3173866148 modified "2023-09-23" @default.
- W3173866148 title "Stable Capturing Strategy in the Dual-arm Time-Delay Capturing System with Hardware Closed Chain" @default.
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- W3173866148 doi "https://doi.org/10.1109/iccar52225.2021.9463505" @default.
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