GU Xinxin, FENG Chunbo, XIA Hongsheng. DUAL-ARM ROBOTIC COORDINATION CONTROL BASED ON LYAPUNOV GROBALLY EXPONENTIAL STABILITY[J]. ROBOT, 1991, 13(1): 50-56.
Citation: GU Xinxin, FENG Chunbo, XIA Hongsheng. DUAL-ARM ROBOTIC COORDINATION CONTROL BASED ON LYAPUNOV GROBALLY EXPONENTIAL STABILITY[J]. ROBOT, 1991, 13(1): 50-56.

DUAL-ARM ROBOTIC COORDINATION CONTROL BASED ON LYAPUNOV GROBALLY EXPONENTIAL STABILITY

  • This paper introduces the Dual Arm coordination control problem based on closed chain formulation.Through a slight modification of an energy Lyapunov function, closed-loop exponential stability fortracking control problem is demonstrated. In this design, the nonliear terms are decoupled from real-timemeasurements. The requirement for on-line computation of nonlinear terms is avoided in the controllerimplementation. Research is supported by Shenyang Robotics Open Research Laboratory Foundation.
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