System preservation of a cooperative manipulator system

This paper proposes a method of maintaining the stability of robotic manipulators with network connection which are doing cooperative tasks. Such robotic manipulator systems have many possibilities, but they sometimes fall into unstable states due to double connection, that is, mechanical and informational connection. To avoid such unstable oscillations, the proposed method utilizes a kind of torque limiter and a notch filter. © 1997 Scripta Technica, Inc Electr Eng Jpn, 121(2): 47–53, 1997