Force Control of Dual-Manipulator Handling a Flexible Payload Based on Distributed Parameter Model Conference Paper

abstract

• 2018 IEEE. This paper presents an exact dynamic model of a dual-manipulator handling a flexible payload by using Hamilton's principle. On the basis of the distributed parameter model, a force controller is designed via Lyapunov theory. The controller can accomplish the desired contact force between the manipulator and the flexible payload while achieving the given desired link angles, and simultaneously suppressing the vibration of the flexible payload. All the states used in the controller are readily available so that the proposed method is feasible to implement.

name of conference

• 2018 Chinese Automation Congress (CAC)

authors

• Langari, Gholamreza

published proceedings

• 2018 CHINESE AUTOMATION CONGRESS (CAC)

author list (cited authors)

• Liu, S., Li, Y., & Langari, R.

citation count

• 1

complete list of authors

• Liu, Shuyang||Li, Yuanchun||Langari, Reza

publication date

• November 2018

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• n2688-092XISSN  Journal

keywords

• Distributed Parameter Model
• Flexible Payload
• Force Control
• Lyapunov Function

Digital Object Identifier (DOI)

• 10.1109/cac.2018.8623574

International Standard Book Number (ISBN) 13

• 9781728113128

start page

• 2820

end page

• 2824

volume

• 00

URL

• http://dx.doi.org/10.1109/cac.2018.8623574