@inproceedings{47116e5d3690441b92e43149e07992a4,
title = "Cooperative assembling using multiple robotic manipulators",
abstract = "The scenario of cooperative assembling of multiple components in different locations is taken into consideration in this paper. It consists of two phases, including cooperative grasping and transporting respectively. Towards this end, a general nonlinear 3-DOF (degree of freedom) Euler-Lagrange model of the robotic manipulator is firstly established. A nonlinear distributed control law using a two-way-ring network topology is then proposed for each manipulator to cooperatively move from initial location to the desired location. Notably, we simply omit the control of end-effector of each manipulator and only focus on the cooperative control of multiple manipulators' trajectories. In the end, an assembling example of three components by three robotic manipulators is provided to illustrate the effectiveness of the proposed controller.",
keywords = "Assembling and grasping, Cooperative control, Robotic manipulators",
author = "Yuhua Qi and Jianan Wang and Qingzhong Jia and Jiayuan Shan",
note = "Publisher Copyright: {\textcopyright} 2016 TCCT.; 35th Chinese Control Conference, CCC 2016 ; Conference date: 27-07-2016 Through 29-07-2016",
year = "2016",
month = aug,
day = "26",
doi = "10.1109/ChiCC.2016.7554622",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "7973--7978",
editor = "Jie Chen and Qianchuan Zhao and Jie Chen",
booktitle = "Proceedings of the 35th Chinese Control Conference, CCC 2016",
address = "United States",
}