Modelling and control of two robotic manipulators handling a constrained object

Mohamed Zribi, Mansour Karkoub, Loulin Huang

Research output: Contribution to journalArticle

21 Citations (Scopus)


In this paper, the problem of modelling and controlling two manipulators handling a constrained object is addressed. At first, a reduced order dynamic model of the system is derived, and several of its properties are outlined. Using the reduced order model, an adaptive control scheme that guarantees the asymptotic convergence of the position of the object, and the forces acting on the object to their desired values is developed. Simulation results of two planar robots moving an object along a plane illustrate the effectiveness of the proposed control scheme. (C) 2000 Elsevier Science Inc. All rights reserved.

Original languageEnglish
Pages (from-to)881-898
Number of pages18
JournalApplied Mathematical Modelling
Issue number12
Publication statusPublished - 1 Oct 2000


  • Adaptive control
  • Constrained multiple robots
  • Modelling

ASJC Scopus subject areas

  • Modelling and Simulation
  • Applied Mathematics

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