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RI | Publications | Control of cooperative underactuated manipulators: a robustness comparison study
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Text only version of this site
Control of cooperative underactuated manipulators: a robustness comparison study
M. Bergerman, Y. Xu, and Y. Liu
First Workshop on Robotics and Mechatronics, Vol. 1, September, 1998, pp. 279 - 286.
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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: VASC
Number of pages: 8
| Text Reference |
M. Bergerman, Y. Xu, and Y. Liu, "Control of cooperative underactuated manipulators: a robustness comparison study," First Workshop on Robotics and Mechatronics, Vol. 1, 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",
month = "September",
year = "1998",
volume = "1",
pages = "279 - 286"
}