VSC COORDINATED CONTROL OF 2 MANIPULATOR ARMS IN THE PRESENCE OF ENVIRONMENTAL CONSTRAINTS

被引：42

作者：

YAO, B ^{[1
]}

GAO, WB ^{[1
]}

CHAN, SP ^{[1
]}

CHENG, M ^{[1
]}

机构：

[1] BEIJING UNIV AERONAUT & ASTRONAUT,DIV RES 7,BEIJING 10083,PEOPLES R CHINA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1992年 / 37卷 / 11期

关键词：

D O I：

10.1109/9.173156

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A variable structure control (VSC) method is developed for motion, internal force, and constrained force control of two manipulators grasping a common constrained object. Based on a transformed dynamic equation of the entire system in the joint space, motion and force control are designed together via a VSC method with robustness to parametric uncertainties and external disturbances. The proposed VSC controller guarantees the system with prescribed qualities in the sliding mode and during the reaching transient. Simulation results illustrate the proposed method.

引用

页码：1806 / 1812

页数：7

共 12 条

[1]

CARELLI R, 1989, 28TH P C DEC CONTR, P2635

[2]

CHAN SP, 1989, P IEEE INT C ROBOT A

[3]

GAO WB, 1989, JAN CHIN JAP JOINT S, P103

[4] AN ADAPTIVE APPROACH TO MOTION AND FORCE CONTROL OF MULTIPLE COORDINATED ROBOT ARMS [J].

HU, YR ;

GOLDENBERG, AA .

PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :1091-1096

[5]

MCCLAMROCH N, 1988, IEEE T AUTOMAT CONTR, V33

[6]

MILLS JK, 1989, IEEE T ROBOT AUTOMAT, V5

[7] THE ROBUST-CONTROL OF ROBOT MANIPULATORS [J].

SLOTINE, JJE .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1985, 4 (02) :49-64

[8]

YAO B, 1990, P IEEE C IECON 90, P232

[9]

Yoshikawa T., 1990, Proceedings 1990 IEEE International Conference on Robotics and Automation (Cat. No.90CH2876-1), P1178, DOI 10.1109/ROBOT.1990.126156

[10]

YUN X, 1989, 28TH P C DEC CONTR T, P2476

← 1 2 →