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 | ||||||
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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. | ||||||
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DOI: | 10.1109/ROBOT.2001.933028 | ||||||
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: | 16 Nov 2021 17:23 |
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