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Carnegie Mellon Robotics Institute

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Abstract

We propose in this work the first model-based robust control method for a team of underactuated manipulators jointly manipulating a load. The method is based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load, combined with a variable structure controller. Singularities in the control method are addressed, and a sufficient condition for a singularity-free controller implementation is obtained. Simulation and experimental results are presented to validate the theory presented.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Number of pages: 6

Text Reference

Marcel Bergerman, Yangsheng Xu, and Y.-H. Liu, "Robust control of cooperative underactuated manipulators," Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, October, 1998, pp. 443 - 448.

BibTeX Reference

@inproceedings{Bergerman_1998_3221,
   author = "Marcel Bergerman and Yangsheng Xu and Y.-H. Liu",
   title = "Robust control of cooperative underactuated manipulators",
   booktitle = "Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems",
   pages = "443 - 448",
   month = "October",
   year = "1998",
}

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