Sharif Digital Repository

In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecifled position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme  

Efficient environmental management calls for the consideration of multiple pollutants, for which two main types of transferable discharge permit (TDP) program have been described: separate permits that manage each pollutant individually in separate markets, with each permit based on the quantity of the pollutant or its environmental effects, and weighted-sum permits that aggregate several pollutants as a single commodity to be traded in a single market. In this paper, we perform a mathematical analysis of TDP programs for multiple pollutants that jointly affect the environment (i.e., interactive pollutants) and demonstrate the practicality of this approach for cost-efficient maintenance of...