{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T20:39:43Z","timestamp":1760819983896},"reference-count":17,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5519,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Multiple robots are usually required in a flexible manufacturing system or a complex working environment. In particular, when an object under processing is too big or too heavy, a single robot is insufficient to handle it. Two robots are applicable in such case. This article aims to develop a complete mathematical model and an adaptive controller for two robots carrying a common load. It will be shown that the dynamic model of the two\u2010robot system turns out to be a singular system, taking into account the object dynamics. The condition for which the system model holds is also discussed. The adaptive controller will be used to overcome uncertainties in the object dynamics and robots. The distributed forces in the robot end effectors are determined by an optimal criterion. It will be shown that the adaptive controller surpasses the conventional computed torque controller.<\/jats:p>","DOI":"10.1002\/rob.4620090105","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:52:18Z","timestamp":1183726338000},"page":"65-92","source":"Crossref","is-referenced-by-count":6,"title":["Modeling and adaptive coordination control of a two\u2010Robot system"],"prefix":"10.1002","volume":"9","author":[{"given":"Han\u2010Pang","family":"Huang","sequence":"first","affiliation":[]},{"given":"Ruey\u2010Sheng","family":"Chen","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498300200402"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"H.Hoyer \u201cOn\u2010line collision avoidance for industrial robots \u201d Proc. 1st IFAC Symp. Robot Control 477\u2013485(1985).","DOI":"10.1016\/S1474-6670(17)60008-9"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1145\/359156.359164"},{"key":"e_1_2_1_5_2","unstructured":"F.DaucheyandH.Zapata \u201cCoordinated control of two cooperative manipulators: The use of a kinematic model \u201d Proc. 15th Int. Symp. Industrial Robots 641\u2013648(1985)."},{"key":"e_1_2_1_6_2","first-page":"334","article-title":"On a control scheme for two cooperating robot arms","volume":"1","author":"Lim J.","year":"1985","journal-title":"Proc. of 24th IEEE Conf. on Decision and Control"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700009589"},{"key":"e_1_2_1_8_2","first-page":"82","article-title":"Hybrid position\/force control of multi\u2010arm cooperating robots","volume":"1","author":"Hayati S.","year":"1986","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"e_1_2_1_9_2","first-page":"1242","article-title":"Hybrid position \/force control for coordination of a two\u2010arm robot","volume":"2","author":"Uchiyama M.","year":"1987","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"e_1_2_1_10_2","first-page":"1590","article-title":"The unified formulation of constrained robot systems","volume":"3","author":"Huang H. P.","year":"1988","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"e_1_2_1_11_2","first-page":"1761","article-title":"Control of two coordinated robots in motion","volume":"3","author":"Zheng Y. F.","year":"1985","journal-title":"Proc. 24th IEEE Conf. on Decision and Control"},{"key":"e_1_2_1_12_2","article-title":"Constrained relations between two coordinated industrial robots for motion control","volume":"6","author":"Zheng Y. F.","year":"1987","journal-title":"Int. J. of Robotics Research"},{"key":"e_1_2_1_13_2","first-page":"1193","article-title":"Coordinated control of two arm robots","volume":"2","author":"Tarn T. J.","year":"1986","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"e_1_2_1_14_2","first-page":"7","article-title":"Design of dynamic control of two cooperating robot arms: Closed chain formulation","volume":"1","author":"Tarn T. J.","year":"1987","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"e_1_2_1_15_2","first-page":"344","article-title":"Optimal load distribution for two industrial robots, handling a single object","volume":"1","author":"Zheng Y. F.","year":"1988","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1984.272107"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600202"},{"key":"e_1_2_1_18_2","volume-title":"Robotics: Control, Sensing, Vision, and Intelligence","author":"Fu K. S.","year":"1987"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090105","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T10:32:29Z","timestamp":1698057149000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090105"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,2]]},"references-count":17,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1992,2]]}},"alternative-id":["10.1002\/rob.4620090105"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090105","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,2]]}}}