PDS cooperative control of two one-link flexible arms

Author

Matsuno, Fumitoshi ; Hayashi, Akifumi

Author_Institution

Dept. of Comput. Intelligence & Syst. Sci., Tokyo Inst. of Technol., Japan

Volume

2

fYear

2000

fDate

2000

Firstpage

1490

Abstract

Cooperative control of two flexible arms is discussed. Dynamics of the cooperative flexible arms are described as a distributed parameter system subject to geometric constraint. The control purpose is to accomplish the desired grasping force for a common rigid object and the vibration absorption of the flexible arms. An output PDS feedback control synthesis is developed for cooperative two one-link flexible arms. The synthesis is carried out in the infinite-dimensional setting, mathematical features of which give rise to a stabilizing control algorithm. Due to simplicity of the implementation, the algorithm becomes extremely attractive under limitations on the computer power in the space. The effectiveness of the control strategy proposed is supported by experimental tests

Keywords

control system synthesis; distributed parameter systems; feedback; flexible manipulators; manipulator dynamics; PDS cooperative control; common rigid object; geometric constraint; grasping force; infinite-dimensional setting; one-link flexible arms; stabilizing control algorithm; vibration absorption; Absorption; Angular velocity control; Arm; Control systems; Differential algebraic equations; Force control; Manipulators; Orbital robotics; Partial differential equations; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844808

Filename

844808