Hand over control of unstable object using manipulators - an approach of continuously switching of controllers

This paper presents a new hand over method of unstable object using robot manipulators by an approach of continuously switching of controllers. Each of the robot manipulator can be considered as a controller to stabilize the object. It is needed to switch from one controller to another so that the input of the system does not exceed the value which is required to stabilize the object. However, it is known that if the controller switches at unsuitable time, the system may become unstable. The idea of a new method presented here is to make a switching of the controllers based on the double bracket flow. It is shown that even if the switching time is done at any time, the system still remains stable. Experimental results using two Puma-like 6-DOF robot to hand over an inverted pendulum from one robot to another are presented.