Paper Info
Title
Control of serial rigid link manipulators with hyper degrees of freedom: shape control by a homogeneously decentralized scheme and its experiment
Abstract
In this paper, a new shape control law is proposed to bring a serial rigid link manipulator with hyper degrees of freedom into a specified shape. Shape control is one of the most characteristic controls for a hyper degrees of freedom manipulator. This control law is derived by the Lyapunov design method. A homogeneously decentralized control scheme is also proposed for practical application of the control law to a hyper degrees of freedom manipulator, and it is shown that the derived control law can be realized in a homogeneously decentralized control scheme. The effectiveness of this control law is verified by a hardware model experiment
Year
DOI
Venue
1996
10.1109/ROBOT.1996.506599
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference
Keywords
Field
DocType
Lyapunov methods,control system synthesis,decentralised control,manipulators,shape control,Lyapunov design method,homogeneously decentralized scheme,hyper degrees of freedom,serial rigid link manipulators,shape control
Lyapunov function,Decentralised system,Shape control,Control theory,Manipulator,Design methods,Control engineering,Mathematics
Conference
Volume
ISSN
ISBN
3
1050-4729
0-7803-2988-0
Citations 
PageRank 
References 
3
0.62
4
Authors
3
Name
Order
Citations
PageRank
Hiromi Mochiyama111924.01
Etsujiro Shimemura27120.22
Hisato Kobayashi39020.30