{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T20:15:57Z","timestamp":1771704957920,"version":"3.50.1"},"reference-count":26,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2011,12,13]],"date-time":"2011-12-13T00:00:00Z","timestamp":1323734400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,4]]},"abstract":"<jats:p> This paper presents a robust hybrid force\/position control scheme of two cooperative manipulators handling an unknown object interacting with an unknown environment. The uncertainty of the object is considered in the weight, length, and the position of centre of mass (COM). The environment is assumed to have an unknown but high stiffness. A hybrid force\/position control algorithm is designed for the known system and environment case. The exponential convergence of the position and the interaction force with the environment is proved using the Lyapunov direct method. Similarly, in the unknown object and environment case, and in the presence of bounded disturbances on the robots and the object, an adaptive sliding mode hybrid force\/position control scheme is designed. The asymptotic convergence of the object\u2019s position and the constraint force is guaranteed using the proposed control methodology. The internal forces and moments between the object and robots are controlled independently of the object\u2019s motion and environmental interaction forces. Simulation results confirm the performance and effectiveness of the suggested control methodologies. <\/jats:p>","DOI":"10.1177\/0959651811424251","type":"journal-article","created":{"date-parts":[[2011,12,14]],"date-time":"2011-12-14T03:39:11Z","timestamp":1323833951000},"page":"509-522","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":14,"title":["A robust adaptive hybrid force\/position control scheme of two planar manipulators handling an unknown object interacting with an environment"],"prefix":"10.1177","volume":"226","author":[{"given":"R","family":"Mohajerpoor","sequence":"first","affiliation":[{"name":"Faculty of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"M","family":"Rezaei","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"A","family":"Talebi","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"M","family":"Noorhosseini","sequence":"additional","affiliation":[{"name":"Faculty of Computer Engineering, Amirkabir University of Technology, Tehran, Iran"}]},{"given":"R","family":"Monfaredi","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran"}]}],"member":"179","published-online":{"date-parts":[[2011,12,13]]},"reference":[{"key":"bibr1-0959651811424251","first-page":"1076","volume-title":"Proceedings of the IEEE International Conference on Robotics and automation","author":"Schneider S. 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