Abstract
The dynamic adaptive control of multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system are not precisely known; (iii) the system parameters do vary in a known regions about their nominal values. The proof that controller is asymptotically stable is based on the Lyapunov stability theory.
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© 2000 Springer-Verlag Wien
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Tuneski, A., Vukobratovic, M. (2000). Dynamic Control of Multiple Joint Manipulators Interacting with Dynamic Environment. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_21
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_21
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
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