두개의 ROBOT이 한물체를 다룰때의 Dynamic Model을 이용한 Stability Analysis

Stability Analysis using Dynamic Model of Two Industrial Robots Handling a Single Object

Two control strategies are proposed for two arm robots; i.e. position-position control and position-force control. For the proof of these control strategies, the stability analysis is conducted with robot dynamics included. First, the closed form dynamic equation of the robot is derived, then it is transformed into the operational space for further analysis. Finally, Liapunov method is applied to the dynamic equation in operational space.