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Abstract

In this article we present a comparison study of the robustness properties of three model-based nonlinear controllers for cooperative underactuated manipulators. Two of the controllers are based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load. The third is based on a gravity compensation scheme. Their robustness is checked against uncertainties in each of the links' masses and inertias. Simulation results provide the basis for the comparison of the controllers' robustness.

Notes

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

Number of pages: 8

Text Reference

Marcel Bergerman, Yangsheng Xu, and Y. Liu, "Control of cooperative underactuated manipulators: a robustness comparison study," First Workshop on Robotics and Mechatronics, September, 1998, pp. 279 - 286.

BibTeX Reference

@inproceedings{Bergerman_1998_3222,
   author = "Marcel Bergerman and Yangsheng Xu and Y. Liu",
   title = "Control of cooperative underactuated manipulators: a robustness comparison study",
   booktitle = "First Workshop on Robotics and Mechatronics",
   pages = "279 - 286",
   month = "September",
   year = "1998",
   volume = "1",
}

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