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Proceedings Paper

Force regulation in multiple-manipulator systems
Author(s): John T. Wen; Steve H. Murphy
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Paper Abstract

Despite the recent progress in the motion and force control of multiple manipulators, there has been a continuing question about which physical force should be and can be controlled. The frequently used orthogonal decomposition is plagued by a unit inconsistency problem, rendering its physical interpretation difficult if not impossible. This paper introduces a new and intuitively appealing concept of internal force, and shows how its regulation can be handled by the existing approaches.

Paper Details

Date Published: 1 March 1992
PDF: 12 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56758
Show Author Affiliations
John T. Wen, Rensselaer Polytechnic Institute (United States)
Steve H. Murphy, Rensselaer Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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