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On the stability and design of distributed manipulation control systems

Murphey, T. D. and Burdick, J. W. (2001) On the stability and design of distributed manipulation control systems. In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2686-2691. ISBN 0-7803-6576-3. https://resolver.caltech.edu/CaltechAUTHORS:20190625-080244189

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Abstract

Analyzes the stability of distributed manipulation control schemes. A commonly proposed method for designing a distributed actuator array control scheme assumes that the system's control action can be approximated by a continuous vector force field. The continuous control vector field idealization must then be adapted to the physical actuator array. However, we show that when one takes into account the discreteness of actuator arrays and realistic models of the actuator/object contact mechanics, the controls designed by the continuous approximation approach can be unstable. For this analysis we introduce and use a "power dissipation" method that captures the contact mechanics in a general but tractable way. We show that the quasi-static contact equations have the form of a switched hybrid system. We introduce a discontinuous feedback law that can produce stability which is robust with respect to variations in contact state.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.2001.933028DOIArticle
Additional Information:© 2001 IEEE. This work was partially supported by a grant from the National Science Foundation (grant NSF9402726) through its Engineering Research Center (ERC) program.
Funders:
Funding AgencyGrant Number
NSFEEC-9402726
Record Number:CaltechAUTHORS:20190625-080244189
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190625-080244189
Official Citation:T. D. Murphey and J. W. Burdick, "On the stability and design of distributed manipulation control systems," Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), Seoul, South Korea, 2001, pp. 2686-2691 vol.3. doi: 10.1109/ROBOT.2001.933028
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96681
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:17
Last Modified:03 Oct 2019 21:24

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