Robust control of cooperative underactuated manipulators
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 443 - 448, October, 1998
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.
BibTeX
@conference{Bergerman-1998-14782,author = {Marcel Bergerman and Yangsheng Xu and Y.-H. Liu},
title = {Robust control of cooperative underactuated manipulators},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1998},
month = {October},
volume = {1},
pages = {443 - 448},
}
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