Simple Boundary Cooperative Control of Two One-Link Flexible Arms for Grasping

• Published in: IEEE transactions on automatic control Vol. 54; no. 10; pp. 2470 - 2476
• Main Authors: Endo, T., Matsuno, F., Kawasaki, H.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.10.2009; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptative systems; Applied sciences; Arm; Asymptotic properties; Asymptotic stability; Boundaries; Capacitive sensors; Computer science; control theory; systems; Control system analysis; Control systems; Control theory. Systems; Cooperative control; Distributed parameter systems; Drives; Encoders; Exact sciences and technology; flexible structures; Force control; Grasping; Linkage mechanisms, cams; Mechanical engineering. Machine design; Partial differential equations; Position control; Solid modeling; Stability; Strain control; Tasks; Vibration control; Compliant mechanism; Gripping; flexible structures; Differential equation; Exponential stability; Adaptive control; Partial differential equation; Closed feedback; Angular measurement; Asymptotic stability; Multiagent system; Cooperation; Linkage mechanism; Distributed control; Boundary control; Dynamic model; Arm; Force control; Distributed parameter system; Distributed parameter systems
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2009.2029401

This paper considers a grasping task by means of two one-link flexible arms. To accomplish this task, we propose a simple boundary cooperative control based on a dynamic model, which consists of partial differential equations (PDEs) and ordinary differential equations (ODEs) subject to geometric constraints. Since the data which is needed for the implementation of the controller can be obtained by a strain gauge and a rotary encoder, it is easy to implement it. The asymptotic stability of a closed-loop system and the exponential stability of the system under some conditions are studied.