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Robust decentralized position/force control of cooperative robots without velocity measurement

Sadati, N ; Sharif University of Technology | 2005

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  1. Type of Document: Article
  2. DOI: 10.1109/ICIT.2005.1600855
  3. Publisher: 2005
  4. Abstract:
  5. A decentralized control scheme for multiple cooperative manipulators system is developed to achieve the desired performance in motion and force tracking in the presence of uncertainties in the dynamic equations of the robots. To reduce the effects of uncertainties in the closed-loop performance, a robust control algorithm using a robustifying term is proposed. Based on the Lyapunov stability method, it is proved that all the signals in the closed-loop, composed of a robot, an observer and a controller are uniformly ultimately bounded. Also to avoid the difficulties of using velocity sensors within the hand architecture an output feedback control scheme with a linear observer is used. © 2005 IEEE
  6. Keywords:
  7. Decentralized control ; Lyapunov methods ; Manipulators ; Robots ; System stability ; Velocity measurement ; Cooperative manipulators ; Dynamic equations ; Lyapunov stability method ; Force control
  8. Source: 2005 IEEE International Conference on Industrial Technology, ICIT 2005, Hong Kong, 14 December 2005 through 17 December 2005 ; Volume 2005 , 2005 , Pages 1403-1408 ; 0780394844 (ISBN); 9780780394841 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/1600855