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Browse Conference Publications > Robotics and Automation, 2003 ... Help

Smooth feedback control algorithms for distributed manipulators

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2 Author(s)
Murphey, T.D. ; Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA ; Burdick, J.W.

This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law scales linearly with the number of actuators and is simple to implement. Moreover, we prove that control law has desirable robustness properties in the presence of the nonsmooth mechanics inherent in distributed manipulation systems that rely upon frictional contact. This algorithm has been implemented on an experimental distributed manipulation test-bed, whose structure is briefly reviewed. The experimental results confirm the validity and performance of the algorithm.

Published in:
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference: 14-19 Sept. 2003

Page(s):
3619 - 3623 vol.3
ISSN :
1050-4729
Print ISBN:
0-7803-7736-2
INSPEC Accession Number:
7906642
Digital Object Identifier :
10.1109/ROBOT.2003.1242151

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