Title :
Boundary control and two-time scale method for vibration-free movment and trajectory tracking of a flexible object handled by two cooperating robot manipulators
Author :
Lotfavar, Amir ; Eghtesad, Mohammad
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Shiraz Univ. of Technol., Shiraz, Iran
Abstract :
In this paper, a new control design for trajectory tracking of two cooperating rigid-link robot manipulators and vibration-free movement of a flexible beam handled by the two robots which does not require vibration measurement for the beam is presented via Two-time scale and Boundary control theory.
Keywords :
beams (structures); distributed parameter systems; industrial manipulators; materials handling; position control; boundary control; flexible beam; flexible object tracking; rigid link robot manipulators; trajectory tracking; two time scale method; vibration free movement; Deformable models; Manipulator dynamics; Motion analysis; Robot kinematics; Robotics and automation; Service robots; Tracking; Trajectory; Vibration control; Vibration measurement;
Conference_Titel :
Mechatronics and its Applications (ISMA), 2010 7th International Symposium on
Conference_Location :
Sharjah
Print_ISBN :
978-1-4244-6665-8
