Tham khảo tài liệu 'multi-arm cooperating robots- dynamics and control - zivanovic and vukobratovic part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Synthesis ofNominals 187 given for one contact point. The simulation responses of the non-controlled unstabilized cooperative system under the action of the calculated nominal driving torques given for the phases of gripping and nominal motion are presented in Figures 29 and 32 respectively. In the general motion of the non-controlled unstabilized cooperative system the action of nominal driving torques produces the nominal contact forces but the absolute position of contact points diverge retaining the prescribed relative distances Figure 32 . 6 COOPERATIVE SYSTEM CONTROL In this chapter the problem of cooperative manipulation of an object by several non-redundant manipulators with six DOFs is solved as the problem of controlling a mobile elastic structure while taking into account all specific features of cooperative manipulation. We give a classification of control tasks and propose a procedure to calculate the driving torques to be introduced at the joints of the manipulators in order to ensure tracking of the nominal trajectory of the manipulated object MC and nominals of the followers contacts. A theoretical analysis of the behavior of the closed-loop cooperative system is given with a special reference to the behavior of non-controlled quantities. The procedure for calculating driving torques and the behavior of the closed-loop cooperative system are illustrated in a simple cooperative system consisting of the manipulated object and two one-DOF manipulators. Introduction to the Problem of Cooperative System Control Generally the task of control is to provide a set of drives inputs that will produce such a state of the object to satisfy its desired outputs. The control can neither change nor improve the physical characteristics of the object. Through the control on the basis of the instantaneous requirement desired input for the object s behavior and instantaneous state of the object such drive input is synthesized that will force the object to behave in
