Experiments in nonsmooth control of distributed manipulation

This paper describes an experimental modular distributed manipulation system upon which one can implement a variety of control schemes. We have shown elsewhere that when one includes the nonsmooth effects of friction into a model of distributed manipulation, nonsmooth feedback laws must generally be...

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Published in2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Vol. 3; pp. 3600 - 3606 vol.3
Main Authors Murphey, T.D., Burdick, J.W., Burgess, J., Homyk, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2003
Subjects
Actuators
Aerodynamics
Assembly
Control systems
Distributed control
Feedback
Friction
Paper technology
Postal services
Wheels
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Summary:This paper describes an experimental modular distributed manipulation system upon which one can implement a variety of control schemes. We have shown elsewhere that when one includes the nonsmooth effects of friction into a model of distributed manipulation, nonsmooth feedback laws must generally be used to control distributed manipulators. We summarize results obtained with this experimental system that confirm the validity of control schemes proposed by the authors in recent papers. We describe the control algorithms in some detail and include specifics of the experimental set-up and experimental results.
ISBN:0780377362
9780780377363
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2003.1242148