By Topic

Multiple manipulator control from a human motor-control perspective

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
C. Kambhampati ; Dept. of Comput. Sci., Univ. of Hull, UK ; S. Rajasekharan

The human motor-control system has a hierarchical and decentralized structure, and building such a control system for a multiple robot system would require a decomposed model. The difficulty in decomposing complex robotic systems is due to interactions between robots, and the paper proposes a control architecture that controls the manipulator joints and interactions separately. A decomposable model for an N - n degrees-of-freedom multimanipulator/object system handling an object is derived. This model is then used to design a Lyapunov-based fuzzy logic controller for the system by solving linear matrix equalities. It is shown that this controller is closed-loop stable and a stable suboptimal controller for the system may be designed using bounds.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:19 ,  Issue: 3 )