Title :
Control of serial rigid link manipulators with hyper degrees of freedom: shape control by a homogeneously decentralized scheme and its experiment
Author :
Mochiyama, H. ; Shimemura, E. ; Kobayashi, H.
Author_Institution :
Dept. of Inf. Syst., Japan Adv. Inst. of Sci. & Technol., Hokuriku, Japan
Abstract :
In this paper, a new shape control law is proposed to bring a serial rigid link manipulator with hyper degrees of freedom into a specified shape. Shape control is one of the most characteristic controls for a hyper degrees of freedom manipulator. This control law is derived by the Lyapunov design method. A homogeneously decentralized control scheme is also proposed for practical application of the control law to a hyper degrees of freedom manipulator, and it is shown that the derived control law can be realized in a homogeneously decentralized control scheme. The effectiveness of this control law is verified by a hardware model experiment
Keywords :
Lyapunov methods; control system synthesis; decentralised control; manipulators; shape control; Lyapunov design method; homogeneously decentralized scheme; hyper degrees of freedom; serial rigid link manipulators; shape control; Centralized control; Design methodology; Distributed control; Hardware; Information systems; Manipulator dynamics; Mechanical factors; Shape control; Size control; Torque control;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506599
