TY - GEN
T1 - Modeling and control of two manipulators handling a flexible beam
AU - Al-Yahmadi, Amer S.
AU - Hsia, T. C.
PY - 2005
Y1 - 2005
N2 - 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
AB - 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
KW - Cooperative manipulators
KW - Sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=32044434015&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=32044434015&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:32044434015
SN - 9759845857
SN - 9789759845858
T3 - Proceedings - Wec 05: Fourth World Enformatika Conference
SP - 147
EP - 150
BT - Proceedings - Wec 05
A2 - Ardil, C.
T2 - Wec 05: Fourth World Enformatika Conference
Y2 - 24 June 2005 through 26 June 2005
ER -