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Multiple manipulator control from a human motor-control perspective

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

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:

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