Journal article
Robust control of planar dual-arm cooperative manipulators
Robotics and computer-integrated manufacturing, Vol.16(2), pp.109-119
2000
DOI: 10.1016/S0736-5845(99)00043-5
Abstract
A robust control method is developed for a planar dual-arm manipulator system. Contact and friction constraints for grasp conditions are considered. An optimization algorithm is developed such that a minimization of the energy consumed by the participating arms subject to equality and inequality constraints of grasp and friction constraints. The necessary Karush–Kun–Tucker conditions are implemented to characterize admissible solutions. A robust controller is proposed using a switching-sliding algorithm for modeling imprecision and disturbances. The switching-sliding mode is then replaced by a saturation function that results in the elimination of the fundamental cause for control chatter. The formulation presents a control algorithm that is well suited for dual-arm cooperative manipulators.
Details
- Title: Subtitle
- Robust control of planar dual-arm cooperative manipulators
- Creators
- Jin-Fan Liu - Computer Aided Design and Simulation, Inc. (CADSI), Oakdale, IA 52241, USAKarim Abdel-Malek - Center for Computer Aided Design, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USA
- Resource Type
- Journal article
- Publication Details
- Robotics and computer-integrated manufacturing, Vol.16(2), pp.109-119
- Publisher
- Elsevier Ltd
- DOI
- 10.1016/S0736-5845(99)00043-5
- ISSN
- 0736-5845
- eISSN
- 1879-2537
- Language
- English
- Date published
- 2000
- Academic Unit
- Roy J. Carver Department of Biomedical Engineering; Mechanical Engineering
- Record Identifier
- 9984064105202771
Metrics
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