Modeling and control of two manipulators handling a flexible beam

Amer S. Al-Yahmadi, T. C. Hsia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results. COPYRIGHT

Original languageEnglish
Title of host publicationProceedings - Wec 05
Subtitle of host publicationFourth World Enformatika Conference
EditorsC. Ardil
Pages147-150
Number of pages4
Volume6
Publication statusPublished - 2005
EventWec 05: Fourth World Enformatika Conference - Istanbul, Turkey
Duration: Jun 24 2005Jun 26 2005

Other

OtherWec 05: Fourth World Enformatika Conference
CountryTurkey
CityIstanbul
Period6/24/056/26/05

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Keywords

  • Cooperative manipulators
  • Sliding mode control

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Al-Yahmadi, A. S., & Hsia, T. C. (2005). Modeling and control of two manipulators handling a flexible beam. In C. Ardil (Ed.), Proceedings - Wec 05: Fourth World Enformatika Conference (Vol. 6, pp. 147-150)