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Please use this identifier to cite or link to this item: http://hdl.handle.net/2259/283

Title: Dynamic control of multi-arm co-operating manipulator systems
Authors: Swain, Anjan Kumar
Morris, Alan S.*
Keywords: Fixed-base
Free-floating
Free-flying
Space manipulators
Issue Date: 2004
Abstract: This paper deseribes the control of multi-arm co-operating manipulator systems handling a common object. Inverse dynamics controllers with motive force compensation are developed for the co-operating fixed-base, free-floating, and free-flying space manipulator systems. Further, the relative performances of all the three configurations are compared on two tracking problems.
Description: Robotica (2004) volume 22, pp. 271–283. © 2004 Cambridge University Press DOI: 10.1017/S0263574703005599 Printed in the United Kingdom. * External Authors
URI: http://hdl.handle.net/2259/283
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