Title :
Manipulation problem of a ball between two parallel plates based on time-state control form
Author :
Date, Hisashi ; Sampei, Mitsuji ; Yamada, Daisuke ; Ishikawa, Masato ; Koga, Masanobu
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
This paper deals with the ball-plate problem being considered as an effective model for nonholonomic constraints, and gives simultaneous control method for both the position and orientation of the ball based on the time-state control form
Keywords :
manipulator dynamics; position control; ball-plate problem; manipulation problem; nonholonomic constraints; orientation; parallel plates; position; time-state control form; Control systems; Kinetic theory; Motion control; Nonlinear control systems; Nonlinear systems; Open loop systems; Position control; Robots; Solid modeling; Strain control;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831233
