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

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.

author list (cited authors)

  • Liu, S., Li, Y., & Langari, R.

publication date

  • January 1, 2018 11:11 AM

publisher