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Robust and adaptive control of three dimensional revolute-jointed cooperative manipulators for handling automation

Published online by Cambridge University Press:  31 October 2005

Hürvet Sarikaya ,
Recep Burkan  and
İbrahim Uzmay
Hürvet Sarikaya
Affiliation:
Erciyes University Engineering Faculty Department of Mechanical Engineering, Kayseri (TURKEY).
Recep Burkan
Affiliation:
Erciyes University Vocational School of Kayseri (TURKEY).
İbrahim Uzmay
Affiliation:
Erciyes University Engineering Faculty Department of Mechanical Engineering, Kayseri (TURKEY).
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Abstract

This paper presents a study of the application of adaptive and robust control methods to a cooperative manipulation system which is developed for handling an object by three dimensional revolute-jointed manipulators. The adaptive control algorithm supports the parameter adaptive law that provides guaranteed stability for uncertain systems. In designing the robust control structure, contact and friction constraints for grasp and bearing conditions, structural flexibility or such similar factors as various unmodeled dynamics are considered as uncertainties that determine available values of control parameters. The novelty of results in the present paper is to define new control inputs using parametric uncertainties and the Lyapunov based theory of guaranteed stability of uncertain systems for handling objects in a spatial workspace.

Keywords

Spatial cooperative manipulationRobust controlAdaptive controlParameter uncertaintySystem stability
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 163 - 172
Copyright
2005 Cambridge University Press

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