A system of two cooperative manipulators tightly grasping a rigid object is considered. Based on a suitable formulation of the cooperative task space, a regulation scheme has been previously proposed, which is based on the design of an individual regulator for each manipulator. Each regulator is designed according to the concept of kinetostatic filtering. In order to avoid the occurrence of representation singularities, the orientation errors are computed by using the unit quaternion. The analysis of the equilibria of the resulting closed-loop system is provided and its asymptotic stability is demonstrated via Lyapunov-like analysis
Analysis of a task-space regulator for cooperative manipulators
CACCAVALE, Fabrizio;
1999-01-01
Abstract
A system of two cooperative manipulators tightly grasping a rigid object is considered. Based on a suitable formulation of the cooperative task space, a regulation scheme has been previously proposed, which is based on the design of an individual regulator for each manipulator. Each regulator is designed according to the concept of kinetostatic filtering. In order to avoid the occurrence of representation singularities, the orientation errors are computed by using the unit quaternion. The analysis of the equilibria of the resulting closed-loop system is provided and its asymptotic stability is demonstrated via Lyapunov-like analysisFile in questo prodotto:
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