|
|
|
|
RI | Publications | Robust control of cooperative underactuated manipulators
|
|
Text only version of this site
Robust control of cooperative underactuated manipulators
M. Bergerman, Y. Xu, and Y. Liu
Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, October, 1998, pp. 443 - 448.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [125 KB] Compressed postscript (ps.gz) [217 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| 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: VASC
Number of pages: 6
| Text Reference |
M. Bergerman, Y. Xu, and Y. 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",
month = "October",
year = "1998",
pages = "443 - 448"
}