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Experiments have been presented to verify the asymmetric hybrid control scheme presented by Uchiyama for the coordination of a dual arm robot to hold a single object. The control scheme implements both hybrid control of forces and positions and load sharing between the two arms. An industrial dual arm robot with four degrees-of-freedom for each arm is used in the experiment. An adaptive load sharing...
An inertial stabilization system for small airborne synthetic aperture radar (SAR), which consists of an active damping mechanism and a two-axis gimbal, has been developed. Both high-frequency vibration isolation by the active damping and high stability of antenna direction under low-frequency angular disturbance have been successfully demonstrated. Also, a small airborne SAR prototype for disaster...
In this paper we deal with the adaptive load sharing for two cooperating manipulators to hold a common object robustly. The task vectors to describe the task are first summarized, and a hybrid control scheme for the simultaneous control of the holding forces and the carrying positions is presented. Within this framework, the robust holding problem is analyzed with paying attention to the contact conditions...
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