Master-helper control strategy to robotic systems in tracking an object subject to environmental constraints

A hierarchical control strategy is developed for robotic systems (multiple robot systems) holding a rigid body to track a given motion in the presence of environmental constraints. A mathematical formulation of the environmental constraints is introduced which is simple enough in many cases. The con...

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Bibliographic Details

Published in:	IECON' 90 : 16th annual conference of IEEE Industrial Electronics Society : November 27-30, 1990, Asilomar Conference Center, Pacific Grove, California pp. 226 - 231 vol.1
Main Authors:	Gao, W., Yao, B.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 1990
Subjects:	Computer architecture Control systems Equations Gravity Mathematical model Motion control Robot control Robot kinematics Tracking
ISBN:	0879426004, 9780879426002
Online Access:	Get full text
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