Coordinated Motion Control of Robot Arms Based on the Virtual Internal Model

Masanobu Koga, Kazuhiro Kosuge, Katsuhisa Furuta, Kageharu Nosaki

Research output: Contribution to journalArticlepeer-review

56 Citations (Scopus)


This paper proposes an alternative coordinated motion control architecture of robot arms manipulating an object. The motion and the internal force of the object are resolved into the motion of each arm. Each arm is controlled based on the virtual internal model so as to operate in coordination even if geometric errors exist in the robot arms and the object. The virtual internal model is a reference model driven by sensory information implemented in the controller. The proposed architecture will keep the state of the system bounded even if the breakage of the manipulated object occurs. The control algorithm is experimentally applied to the coordinated motion control of two planar robot arms, each of which has three degrees of freedom. The results illustrate the validity of the proposed control architecture.

Original languageEnglish
Pages (from-to)77-85
Number of pages9
JournalIEEE Transactions on Robotics and Automation
Issue number1
Publication statusPublished - 1992 Feb
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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