Multi-Arm Cooperating Robots: Dynamics and Control (Microprocessor-Based and Intelligent Systems Engineering)
Springer; 1 edition | English | ISBN: 140204268X | February 10, 2006 | 288 pages | PDF | 3.8 MB
Several consistent solutions for cooperative system control have recently been identified by the authors of the current monograph. This was achieved by solving three separate tasks that are essential for solving the problem of cooperative manipulation as a whole. The first task is related to the understanding of the physical nature of cooperative manipulation and finding a way for a sufficiently exact characterization of cooperative system statics, kinematics and dynamics. After successfully completing this task, in the frame of the second task, the problem of coordinated motion of the cooperative system is solved. Finally, as a solution to the third task, the control laws of cooperative manipulation are synthesized.