Modeling and Control of Two Manipulators Handling a Flexible Beam
| Main Authors: | Amer S. Al-Yahmadi, T.C. Hsia |
|---|---|
| Format: | Article Journal |
| Bahasa: | eng |
| Terbitan: |
, 2007
|
| Online Access: |
https://zenodo.org/record/1329388 |
Daftar Isi:
- This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results.