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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ivanescu, M. Stoian, V. |
| Copyright Year | 1998 |
| Description | Author affiliation: Dept. of Autom. & Comput., Craiova Univ., Romania (Ivanescu, M.) |
| Abstract | A control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the force distribution. The lower-level local control problem is then treated as an open-chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the DSMC procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed. |
| Starting Page | 1540 |
| Ending Page | 1545 |
| File Size | 470798 |
| Page Count | 6 |
| File Format | |
| ISBN | 078034300X |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.1998.677341 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1998-05-20 |
| Publisher Place | Belgium |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Control systems Automatic control Sliding mode control Robot kinematics Open loop systems Fuzzy control Robotics and automation Manipulator dynamics Motion control Inverse problems |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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