Model reference adaptive control of constrained cooperative manipulators Conference Paper

abstract

• We consider the dynamics and control of two or more multi-link robot manipulators cooperatively maneuvering a rigid payload. The redundantly actuated case is considered and trajectory tracking control laws are derived to account for the uncertain payload properties but ensuring stable tracking error dynamics. The dynamics of the constrained system is projected on to the null space of the constraints and is shown that this reduces the parameterization of the controller greatly. The control law is shown to be robust against large payload errors.

name of conference

• Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

authors

• Junkins, John

published proceedings

• PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01)

author list (cited authors)

• Subbarao, K., Verma, A., & Junkins, J. L.

citation count

• 2

complete list of authors

• Subbarao, K||Verma, A||Junkins, JL

publication date

• January 2001

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Adaptive Control
• Constrained Nonlinear Dynamics
• Cooperative Control
• Robotic Manipulators

Digital Object Identifier (DOI)

• 10.1109/CCA.2001.973925

International Standard Book Number (ISBN) 10

• 0-7803-6733-2

start page

• 553

end page

• 558

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Fcca.2001.973925