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Experiments in nonsmooth control of distributed manipulation

Murphey, T. D. and Burdick, J. W. and Burgess, J. and Homyk, A. (2003) Experiments in nonsmooth control of distributed manipulation. In: 2003 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 3600-3606. ISBN 0-7803-7736-2.

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This paper describes an experimental modular distributed manipulation system upon which one can implement a variety of control schemes. We have shown elsewhere that when one includes the nonsmooth effects of friction into a model of distributed manipulation, nonsmooth feedback laws must generally be used to control distributed manipulators. We summarize results obtained with this experimental system that confirm the validity of control schemes proposed by the authors in recent papers. We describe the control algorithms in some detail and include specifics of the experimental set-up and experimental results.

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Additional Information:© 2003 IEEE. We would like to thank David Choi for his help in building the experiment. We are grateful to the National Science Foundation (grant NSF9402726) for helping to support this research through its Engineering Research Center (ERC) program.
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Record Number:CaltechAUTHORS:20190625-102110125
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Official Citation:T. D. Murphey, J. W. Burdick, J. Burgess and A. Homyk, "Experiments in nonsmooth control of distributed manipulation," 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), Taipei, Taiwan, 2003, pp. 3600-3606 vol.3. doi: 10.1109/ROBOT.2003.1242148
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96693
Deposited By: Tony Diaz
Deposited On:25 Jun 2019 18:06
Last Modified:16 Nov 2021 17:23

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