Simple Boundary Cooperative Control of Two One-Link Flexible Arms for Grasping

Author

Endo, Takahiro ; Matsuno, Fumitoshi ; Kawasaki, Haruhisa

Author_Institution

Gifu Univ., Gifu, Japan

Volume

54

Issue

10

fYear

2009

Firstpage

2470

Lastpage

2476

Abstract

This paper considers a grasping task by means of two one-link flexible arms. To accomplish this task, we propose a simple boundary cooperative control based on a dynamic model, which consists of partial differential equations (PDEs) and ordinary differential equations (ODEs) subject to geometric constraints. Since the data which is needed for the implementation of the controller can be obtained by a strain gauge and a rotary encoder, it is easy to implement it. The asymptotic stability of a closed-loop system and the exponential stability of the system under some conditions are studied.

Keywords

asymptotic stability; closed loop systems; manipulator dynamics; partial differential equations; asymptotic stability; closed-loop system; dynamic model; exponential stability; geometric constraint; grasping task; ordinary differential equation; partial differential equation; rotary encoder; simple boundary cooperative control; strain gauge; two one-link flexible arm; Arm; Asymptotic stability; Capacitive sensors; Control system synthesis; Control systems; Force control; Partial differential equations; Position control; Solid modeling; Strain control; Vibration control; Distributed parameter systems; flexible structures; force control;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2009.2029401

Filename

5247010