Force feedback use when moving load by a pair of manipulators-Reference-Cited by-同舟云学术

Force feedback use when moving load by a pair of manipulators

Published:2023-01 Issue:1 (754) Volume: Page:3-12
ISSN:0536-1044
Container-title:Proceedings of Higher Educational Institutions. Маchine Building
language:
Short-container-title:PoHEI.MB

Author:

Sorokin N.F.¹,Gavryushin S.S.²

Affiliation:

1. Blagonravov Mechanical Engineering Research Institute of the Russian Academy of Sciences

2. Bauman Moscow State Technical University

Abstract

The paper considers problem of joint cargo transfer by a pair of manipulators. In accordance with the compliant control paradigm, a solution is proposed that includes the force feedback counteracting the increase in forces in the load-manipulator system. Using tensor representation and screw calculus, the one-dimensional problem is generalized to the multidimensional case. Computer model of the system under study was built and computational experiments were carried out using the Gazebo robotic simulation package. The results obtained confirm the prospects of the position force approach to solving the group control problems.

Publisher

Bauman Moscow State Technical University

Subject

General Engineering

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