NDLI: On coordinated control of multiple flexible joint robots holding a constrained object

Content Provider	IEEE Xplore Digital Library
Author	Tian Lin Goldenberg, A.A.
Copyright Year	1997
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada (Tian Lin)
Abstract	Coordinated control of multiple flexible joint robots holding a constrained object is addressed in this paper. A combined adaptive and robust control scheme, consisting of an adaptive coordinated controller and a robust joint torque controller, is proposed to control simultaneously the motion of the object, the internal force among the robots, the contact force between the object and environment, and the joint torques. The proposed control scheme is developed assuming that all system parameters, including the joint flexibility values, are unknown except for some of their bounds. Stability analysis of the control system shows that with the proposed control scheme, asymptotic motion and force tracking is achieved. Simulation results illustrate the effectiveness of the proposed control method.
Starting Page	1490
Ending Page	1495
File Size	574650
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.614349
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Force control Motion control Torque control Control systems Programmable control Adaptive control Robust control Stability analysis Motion analysis
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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