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Within the control hierarchy, the DMRA\u2010VSC strategy is accomplished at the lower level, where control is responsible for the servoing of each joint. These local controllers are coordinated by the high\u2010level, central controller, whose task is to provide the local controllers with the upper bound on the dynamical interactions with other subsystems. The local controllers are responsible for making each link follow the prescribed local reference subsystem in moving from one position to another. This is done using the local measurements and the information provided by the central controller. Advantages of the DMRA\u2010VSC approach for multiple manipulator control include the inherent robustness properties to nonlinearities and interaction effects, the decentralization structure facilitating ease in multiple manipulator system programming and implementation, and the general structure of the controller which allows further extensions such as force feedback.<\/jats:p>","DOI":"10.1002\/rob.4620040304","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:23:59Z","timestamp":1183699439000},"page":"377-395","source":"Crossref","is-referenced-by-count":3,"title":["Decentralized variable structure control of a two\u2010arm robotic system"],"prefix":"10.1002","volume":"4","author":[{"given":"\u00dc.","family":"\u00d6zg\u00fcner","sequence":"first","affiliation":[]},{"given":"S.","family":"Yurkovich","sequence":"additional","affiliation":[]},{"given":"F.","family":"Ai\u2010Abbass","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"S.Hayati \u201cHybrid Position\/Force Control of Multi\u2010Arm Cooperating Robots \u201d in Proceedings of the IEEE International Conference on Robotics and Automation pp.82\u201389 San Francisco April1986.","DOI":"10.1109\/ROBOT.1986.1087650"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"T. J.Tarn X.Yuan andA. K.Bejczy \u201cCoordinated Control of Two Robot Arms \u201d in Proceedings of the IEEE International Conference on Robotics and Automation pp.1193\u20131202 San Francisco April1986.","DOI":"10.1109\/ROBOT.1986.1087606"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"Y. F.ZhengandJ. Y. S.Luh \u201cJoint Torques for Control of Two Coordinated Moving Robots \u201d in Proceedings of the IEEE International Conference on Robotics and Automation pp.1375\u20131380 April1986.","DOI":"10.1109\/ROBOT.1986.1087494"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"Y. F.ZhengandJ. Y. S.Luh \u201cControl of Two Coordinated Robots in Motion \u201d in Proceedings 24th IEEE Conference on Decision and Control pp.1761\u20131765 Ft. Lau\u2010derdale FL December1985.","DOI":"10.1109\/CDC.1985.268839"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"J.LimandD. H.Chyung \u201cOn a Control Scheme for Two Coordinating Robot Arms \u201d in Proceedings of the 24th Conference on Decision and Control pp.334\u2013335 Ft. Lau\u2010derdale FL December1985.","DOI":"10.1109\/CDC.1985.268860"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"A. J.Koivo \u201cAdaptive Position\u2010Velocity\u2010Force Control of Two Manipulators \u201d in Proceedings 24th Conference on Decision and Control pp.1529\u20131532 Ft. 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Lauderdale FL December11\u201313 1985.","DOI":"10.1109\/CDC.1985.268756"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"\u00dc.\u00d6zg\u00fcner S.Yurkovich J.Martin andF.Al\u2010Abbass \u201cDecentralized Control Experiments on NASA's Flexible Grid \u201d in Proceedings of the 1986 American Control Conference pp.1045\u20131051 Seattle WA June1986.","DOI":"10.23919\/ACC.1986.4789089"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1978.1101913"},{"key":"e_1_2_1_16_2","unstructured":"F.Al\u2010Abbass \u201cDecentralized Adaptive Variable Structure Control Theory and Applications \u201d Ph.D. thesis The Ohio State University 1986."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040304","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040304","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:54:33Z","timestamp":1737183273000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040304"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,6]]},"references-count":15,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1987,6]]}},"alternative-id":["10.1002\/rob.4620040304"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040304","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1987,6]]}}}