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• W4385345950 startingPage "8672" @default.
• W4385345950 abstract "This paper proposes a multi-terminal adaptive collaborative operation method for solving the problem of unstable internal force tracking in the clamping and handling of unknown objects by multi-terminal robots. In the proposed method, the internal command force changes the complex internal force control problem into an internal force tracking problem from multi-slave to master. Moreover, we develop an algorithm for multi-slave setups to estimate the object stiffness and motion uncertainty in the direction of the internal command force according to Lyapunov theory. Finally, the impedance control generates a reference trajectory for the multi-slave to maintain the desired internal force and track the master’s motion. Several experiments were conducted on a self-made robot. The experimental results show that the oscillation amplitude of each slave end is less than 1 mm and the directional oscillation amplitude is less than 1 degree during the tracking of the desired commanded internal force. For objects with a low stiffness, the error of the commanded internal force is less than 1 N (6%) per slave. The error in tracking the commanded internal force for objects with a high stiffness is less than 2 N (8%). The results prove the feasibility and effectiveness of the proposed method." @default.
• W4385345950 created "2023-07-29" @default.
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• W4385345950 date "2023-07-27" @default.
• W4385345950 modified "2023-09-29" @default.
• W4385345950 title "Model-Based Adaptive Collaboration of Multi-Terminal Internal Force Tracking" @default.
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• W4385345950 doi "https://doi.org/10.3390/app13158672" @default.
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