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In the position\u2010position control strategy, the adaptive controllers ensure that the end\u2010effector positions of both arms track desired trajectories in Cartesian space despite unknown time\u2010varying interaction forces exerted through the load. In the position\u2010hybrid control strategy, the adaptive controller of one arm controls end\u2010effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end\u2010effector tracks desired position trajectories. In the hybrid\u2010hybrid control strategy, the adaptive controllers ensure that both end\u2010effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the coupling effects between the arms through the load are treated as \u201cdisturbances\u201d which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on\u2010line implementation with high sampling rates. Simulation results are given to illustrate the proposed adaptive control strategies.<\/jats:p>","DOI":"10.1002\/rob.4620040506","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:31:17Z","timestamp":1183699877000},"page":"653-684","source":"Crossref","is-referenced-by-count":5,"title":["Adaptive control strategies for cooperative dual\u2010arm manipulators"],"prefix":"10.1002","volume":"4","author":[{"given":"H.","family":"Seraji","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"E.Nakano S.Ozaki T.Ishida andI.Kato \u201cCooperational Control of the Anthropomorphous Manipulator MELARM \u201d Proc. 4th Intern. Conf. on Industrial Robots 1974 pp.251\u2013260."},{"key":"e_1_2_1_3_2","unstructured":"T.Ishida \u201cForce Control in Coordination of Two Arms \u201d Proc. 5th Intern. 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