NDLI: Model based deformable object manipulation using linear robust output regulation

Content Provider	IEEE Xplore Digital Library
Author	Fanson, R. Patriciu, A.
Copyright Year	2010
Description	Author affiliation: Department of Electrical and Computer Engineering, McMaster University, Hamilton, Canada (Fanson, R.; Patriciu, A.)
Abstract	This paper presents an approach to the indirect simultaneous positioning task of deformable objects based on robust linear output regulation methods. Indirect control requires maneuvering control points defined on a deformable body to desired locations by manipulating points located elsewhere on the object. The proposed control scheme uses a linearization of the deformable object dynamics into a state-space model for which the inputs are the forces applied to the manipulation points and the outputs are the positions of the control points. Then, the indirect simultaneous positioning task is treated as a classical robust linear output regulation problem. The proposed controller can compensate for deformable model nonlinearities and material uncertainties. The controller performance is illustrated through simulation and experimental results obtained on a planar deformable object model. The experiment was conducted using a robot controlled to apply desired end-effector forces on the planar object.
Starting Page	496
Ending Page	501
File Size	1817349
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650163
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Deformable models Mathematical model Robustness Robots Observers Force Closed loop systems
Content Type	Text
Resource Type	Article

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