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Smooth feedback control algorithms for distributed manipulators

Murphey, T. D. and Burdick, J. W. (2003) Smooth feedback control algorithms for distributed manipulators. In: 2003 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 3619-3623. ISBN 0-7803-7736-2.

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This paper introduces a smooth control algorithm for controlling fully actuated distributed manipulation systems that operate by frictional contact. The control law scales linearly with the number of actuators and is simple to implement. Moreover, we prove that control law has desirable robustness properties in the presence of the nonsmooth mechanics inherent in distributed manipulation systems that rely upon frictional contact. This algorithm has been implemented on an experimental distributed manipulation test-bed, whose structure is briefly reviewed. The experimental results confirm the validity and performance of the algorithm.

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Additional Information:© 2003 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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Record Number:CaltechAUTHORS:20190625-101551007
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Official Citation:T. D. Murphey and J. W. Burdick, "Smooth feedback control algorithms for distributed manipulators," 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Taipei, Taiwan, 2003, pp. 3619-3623 vol.3. doi: 10.1109/ROBOT.2003.1242151
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96692
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:18
Last Modified:16 Nov 2021 17:23

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