Repository logo
 
Loading...
Thumbnail Image
Publication

Analysis of Two Arms Working in Cooperation

Use this identifier to reference this record.
Name:Description:Size:Format: 
CAP_L_MachadoTenreiro28_2004.pdf2.88 MBAdobe PDF Download

Advisor(s)

Abstract(s)

This paper analyzes the performance of two cooperative robot manipulators. In order to capture the working performancewe formulated several performance indices that measure the manipulability, the effort reduction and the equilibrium between the two robots. In this perspective the proposed indices we determined the optimal values for the system parameters. Furthermore, it is studied the implementation of fractional-order algorithms in the position/force control of two cooperative robotic manipulators holding an object.

Description

Keywords

Citation

Research Projects

Organizational Units

Journal Issue