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Nonlinear controllers for underactuated cooperative manipulators

Published online by Cambridge University Press:  15 January 2007

A. A. G. Siqueira  and
M. H. Terra
A. A. G. Siqueira
Affiliation:
University of São Paulo at São Carlos, Mechanical Engineering Department, São Carlos, SP 13566-590, Brazil E-mail: siqueira@sc.usp.br
M. H. Terra*
Affiliation:
University of São Paulo at São Carlos, Electrical Engineering Department, São Carlos, SP 13566-590, Brazil
*
*Corresponding author. E-mail: terra@sel.eesc.usp.br
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Summary

In this paper, two nonlinear control techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators control problem. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.

Keywords

Nonlinear H∞ controlUnderactuated cooperative manipulators

Information

Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007 , pp. 425 - 432
Copyright
Copyright © Cambridge University Press 2007

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