NDLI: Control and simulation of two manipulators handling a flexible payload

Content Provider	IEEE Xplore Digital Library
Author	Zhang Peng Li Yuanchun
Copyright Year	2010
Description	Author affiliation: Department of Communication Engineering, Jilin University, Changchun 130025, China (Li Yuanchun) \|\| State key laboratory of automobile dynamic simulation, Jilin University, Changchun 130025, China (Zhang Peng)
Abstract	The traditional studies about two manipulators handling a flexible payload are mainly focused on configuration analysis and stability. In this paper, the control problem based on observer is studied. With the characteristic of flexible payload, the relations of the vibration states are got from the contact points between the end of manipulators and flexible payload. A new observer is designed based on the available states. In order to make the system easy to control, the model is divided into a slow subsystem and a fast subsystem. The controllers are designed for each subsystem, respectively. The stability of the whole system can be guaranteed with the observer and the control method. The simulation validates the observer and controller.
Starting Page	3417
Ending Page	3422
File Size	161813
Page Count	6
File Format	PDF
ISBN	9781424462636
e-ISBN	9787894631046
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-29
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Association of Aut
Subject Keyword	Vibrations Singular Perturbation Flexible Payload Cooperative systems Observer Observers Manipulators Mathematical model Equations Cooperative Control Payloads Manipulator
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Vibration suppression for two manipulators handling a flexible payload based on observer

Distributed parameter model and cooperative control of manipulators handling a flexible payload

An adaptive backstepping observer-controller design for manipulators cooperating flexible payload

Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload

Backstepping Control of Manipulators Handling a Flexible Payload Based on Distributed Parameter

Non-model-based control of manipulators cooperating flexible payload

Modeling and control of two manipulators handling a flexible payload based on singular perturbation

Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload

Position/force control of two manipulators handling a flexible payload based on finite-element model

Control and simulation of two manipulators handling a flexible payload

Similar Documents

Vibration suppression for two manipulators handling a flexible payload based on observer

Distributed parameter model and cooperative control of manipulators handling a flexible payload

An adaptive backstepping observer-controller design for manipulators cooperating flexible payload

Adaptive sliding mode control with filtered signals of two manipulators handling a flexible payload

Backstepping Control of Manipulators Handling a Flexible Payload Based on Distributed Parameter

Non-model-based control of manipulators cooperating flexible payload

Modeling and control of two manipulators handling a flexible payload based on singular perturbation

Adaptive backstepping control of a dual-manipulator cooperative system handling a flexible payload

Position/force control of two manipulators handling a flexible payload based on finite-element model

Control and simulation of two manipulators handling a flexible payload