Stability of cooperating manipulators with symmetric position/force control and time delay

被引：0
|
作者：
Schneider, A [1 ]
Zeidis, I [1 ]
Zimmermann, K [1 ]
机构：
[1] Fraunhofer Inst Factory Operat & Automat, Dept Automat, Magdeburg, Germany
来源：
ROMANSY 13 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS | 2000年 / 422卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The mathematical model and stability of motion of two cooperating manipulators is considered. The high order equations of this model make the mathematical analysis of the stability more difficult. By using a symmetrical control scheme with time delay in a feedback loop, we have obtained the domains of stability and non-stability for such parameters of the system as coefficients of gains, stiffness, of force sensors, time delay in the control loop, and mass of load.
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页码：187 / 195
页数：9
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