{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T01:54:17Z","timestamp":1780365257314,"version":"3.54.1"},"reference-count":33,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2008,10,17]],"date-time":"2008-10-17T00:00:00Z","timestamp":1224201600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2008,10,17]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The aim of this paper is to present the non\u2010model\u2010based multiple impedance control (NMIC) law for object manipulation tasks, which can be implemented with reasonable limited on\u2010line computations.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The multiple impedance control (MIC) is a model\u2010based algorithm that enforces a designated impedance on all cooperating manipulators, and the manipulated object itself. In this paper, the MIC law is modified to be implemented without using system dynamics. Therefore, this modified MIC law is a quick and more realistic algorithm for implementation in cooperating robotic systems, and so is called NMIC. Developing the NMIC law, error analysis shows that under the NMIC law all participating manipulators, and the manipulated object exhibit the same designated impedance behavior. Next, the proposed NMIC law is applied on an object manipulation task with three cooperating PUMA 560 manipulators while two of them are equipped with a remote compliant centre.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Developing the NMIC law, error analysis shows that under the NMIC law all participating manipulators, and the manipulated object exhibit the same designated impedance behavior. The obtained results show good tracking performance even in the presence of impacts due to contact with an obstacle, and also system flexibility.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>The obtained results show good tracking performance even in the presence of impacts due to contact with an obstacle, and also system flexibility. These results reveal the merits of NMIC law as a non\u2010model\u2010based algorithm for object manipulation tasks, which can be implemented with reasonable limited on\u2010line computations.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The proposed NMIC law is applied on an object manipulation task with three cooperating PUMA 560 manipulators while two of them are equipped with a remote compliant centre.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910810909556","type":"journal-article","created":{"date-parts":[[2008,11,1]],"date-time":"2008-11-01T08:02:43Z","timestamp":1225526563000},"page":"549-558","source":"Crossref","is-referenced-by-count":12,"title":["Cooperation of robotic manipulators using non\u2010model\u2010based multiple impedance control"],"prefix":"10.1108","volume":"35","author":[{"given":"S. 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