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Dynamic control of multi-arm co-operating manipulator systems

Published online by Cambridge University Press:  20 May 2004

Anjan Kumar Swain  and
Alan S. Morris
Anjan Kumar Swain
Affiliation:
Department of Electrical Engineering, Indira Gandhi Institute of Technology, Sarang, India. E-mail: swainanjan@hotmail.com
Alan S. Morris
Affiliation:
Department of Automatic Control and Systems Engineering, University of Sheffield, UK E-mail: a.morris@sheffield.ac.uk
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Abstract

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This paper deseribes the control of multi-arm co-operating manipulator systems handling a common object. Inverse dynamics controllers with motive force compensation are developed for the co-operating fixed-base, free-floating, and free-flying space manipulator systems. Further, the relative performances of all the three configurations are compared on two tracking problems.

Keywords

Fixed-baseFree-floatingFree-flyingSpace manipulators
Type
Research Article
Information
Robotica , Volume 22 , Issue 3 , June 2004 , pp. 271 - 283
Copyright
© 2004 Cambridge University Press