VSC coordinated control of two manipulator arms in the presence of environmental constraints

Author

Yao, B. ; Gao, W.B. ; Chan, S.P. ; Cheng, M.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore

Volume

37

Issue

11

fYear

1992

fDate

11/1/1992 12:00:00 AM

Firstpage

1806

Lastpage

1812

Abstract

A variable structure control (VSC) method is developed for motion, internal force, and constrained force control of two manipulators grasping a common constrained object. Based on a transformed dynamic equation of the entire system in the joint space, a motion and force control are designed together via a VSC method with robustness to parametric uncertainties and external disturbances. The proposed controller guarantees the system with prescribed qualities in the sliding mode and during the reaching transient. Simulation results illustrate the method

Keywords

force control; manipulators; position control; stability; variable structure systems; constrained force control; coordinated control; environmental constraints; external disturbances; internal force; manipulator arms; parametric uncertainties; position control; robustness; sliding mode; stability; variable structure control; Aerodynamics; Arm; Control systems; Equations; Force control; Manipulator dynamics; Motion control; Orbital robotics; Robot kinematics; Sliding mode control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.173156

Filename

173156