Independent force and position control for cooperating manipulators handling an unknown object and interacting with an unknown environment

DOI10.1016/j.jfranklin.2015.12.010zbMath1395.93396OpenAlexW2231911271MaRDI QIDQ1660974

Jee-Hwan Ryu, Aghil Jafari

Publication date: 16 August 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2015.12.010

zbMATH Keywords

cooperating manipulatorsindependent force and position controlunknown object and environment

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Control/observation systems with incomplete information (93C41) Design techniques (robust design, computer-aided design, etc.) (93B51) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Observability (93B07) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

Broadband modeling and precise control of piezoelectric sensing-actuating system for dynamic force output ⋮ Cooperative-theoretic optimal adaptive robust control for fuzzy multiple manipulator systems ⋮ Cooperative output feedback control of a mobile dual flexible manipulator ⋮ Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

Cites Work

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• Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics
• The invariance conditions in variable structure systems
• Sliding mode control in dynamic systems
• VSC coordinated control of two manipulator arms in the presence of environmental constraints
• Modeling of multiple mobile manipulators handling a common deformable object
• Analysis and design of integral sliding manifolds for systems with unmatched perturbations
• Analysis of Chattering in Systems With Second-Order Sliding Modes
• Observation and identification of mechanical systems via second order sliding modes

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