PDS cooperative control of two one-link flexible arms

Cooperative control of two flexible arms is discussed. Dynamics of the cooperative flexible arms are described as a distributed parameter system subject to geometric constraint. The control purpose is to accomplish the desired grasping force for a common rigid object and the vibration absorption of...

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Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 2; pp. 1490 - 1495 vol.2
Main Authors Matsuno, F., Hayashi, A.
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 2000
Subjects
Absorption
Angular velocity control
Arm
Control systems
Differential algebraic equations
Force control
Manipulators
Orbital robotics
Partial differential equations
Vibration control
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Summary:Cooperative control of two flexible arms is discussed. Dynamics of the cooperative flexible arms are described as a distributed parameter system subject to geometric constraint. The control purpose is to accomplish the desired grasping force for a common rigid object and the vibration absorption of the flexible arms. An output PDS feedback control synthesis is developed for cooperative two one-link flexible arms. The synthesis is carried out in the infinite-dimensional setting, mathematical features of which give rise to a stabilizing control algorithm. Due to simplicity of the implementation, the algorithm becomes extremely attractive under limitations on the computer power in the space. The effectiveness of the control strategy proposed is supported by experimental tests.
Bibliography:SourceType-Scholarly Journals-2
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ISBN:9780780358867
0780358864
ISSN:1050-4729
DOI:10.1109/ROBOT.2000.844808