Robust control of cooperative underactuated manipulators

Author

Bergerman, Marcel ; Xu, Yangsheng ; Liu, Yun-Hui

Author_Institution

Inf. Technol. Center, Automation Inst., Campinas, Brazil

Volume

1

fYear

1998

fDate

13-17 Oct 1998

Firstpage

443

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

Keywords

cooperative systems; feedback; linearisation techniques; manipulators; model reference adaptive control systems; nonlinear control systems; poles and zeros; robust control; variable structure systems; VSC; VSS; cooperative underactuated manipulators; feedback linearization; model-based robust control; nonlinear dynamic coupling; singularity-free controller implementation; variable structure controller; Force control; Informatics; Kinematics; Manipulator dynamics; Mechanical variables control; Robotics and automation; Robust control; Sufficient conditions; Switches; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724659

Filename

724659