Impedance-Based Collision Reaction Strategy via Internal Stress Loading in Cooperative Manipulation
Victor Aladele,Seth Hutchinson,Victor Aladele,Seth Hutchinson
Cooperative manipulation systems inherently cause internal stress on the common object. Many works have proposed methods to eliminate this internal stress. However, in this paper, we show that this property can be cautiously leveraged to compensate for external disturbance on the cooperative system, particularly disturbances that occur due to collision along the links of one of the cooperating rob...
