A high level decentralized tracking algorithm for three manipulators subject to motion constraints
2012 (English)In: Intelligent Control and Automation (WCICA), 2012 10th World Congress on, IEEE , 2012, 1920-1924 p.Conference paper (Refereed)
This paper considers a tracking problem for three manipulators grasping a rigid object. The control objective is to coordinate the movements of the manipulators using local information in order to align the object attitude with a desired rest attitude and the object position with a time parameterized reference trajectory. The object rigidity is modelled as a constraint on the motion of the end-effectors saying that the distance between any pair of end-effectors must be constant in time. The control law consists of a rotational part and a translational part. The translational part also incorporates a linear observer of the reference trajectory. We prove stability and illustrate the system dynamics by simulation.
Place, publisher, year, edition, pages
IEEE , 2012. 1920-1924 p.
attitude control, decentralized control, formation control, rigid-body motion
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-116814DOI: 10.1109/WCICA.2012.6358190ScopusID: 2-s2.0-84872349653ISBN: 978-146731398-8OAI: oai:DiVA.org:kth-116814DiVA: diva2:601437
10th World Congress on Intelligent Control and Automation, WCICA 2012, 6 July 2012 through 8 July 2012, Beijing
QC 201301292013-01-292013-01-282016-04-18Bibliographically approved