Name
Title | ||
|---|---|---|
A new controller design scheme for cooperating manipulators - a reliable design approach |
Abstract | ||
|---|---|---|
A new controller design framework for cooperating manipulators is considered in this paper based on a reliable controller design concept. The objective of this paper is to derive a set of controllers for cooperating manipulators, particularly those that can hand over an object. The key idea is to reformulate the original problem of coordinated control as a reliable stabilization problem, i.e. to design a set of controllers which can stabilize a plant both jointly and alone. By introducing a kind of strict force control scheme in the workspace, the reliably stabilizing controller design technique is applied to derive the controllers. Two contributions exist: (i) clarifying a class of the object which can be handed over by using the proposed control scheme and (ii) presenting a constructive design method of the controllers. Experimental results on the hand-over control of a spherical inverted pendulum with two 6 d.o.f. manipulators are included. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1163/156855399X01837 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
two-arm coordination,reliable controller design,hand-over operation | Inverted pendulum,Control theory,Workspace,Control theory,Controller design,Constructive,Control engineering,Engineering,Open-loop controller,Handover | Journal |
Volume | Issue | ISSN |
13 | 6 | 0169-1864 |
Citations | PageRank | References |
0 | 0.34 | 6 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Tasuku Hoshino | 1 | 3 | 2.37 |
| Masaaki Hara | 2 | 0 | 0.68 |
| Katsuhisa Furuta | 3 | 167 | 76.43 |