Open Science Research Excellence

Tc Hsia

Publications

1

Publications

1
957
Modeling and Control of Two Manipulators Handling a Flexible Beam
Abstract:
This paper seeks to develop simple yet practical and efficient control scheme that enables cooperating arms to handle a flexible beam. Specifically the problem studied herein is that of two arms rigidly grasping a flexible beam and such capable of generating forces/moments in such away as to move a flexible beam along a predefined trajectory. The paper develops a sliding mode control law that provides robustness against model imperfection and uncertainty. It also provides an implicit stability proof. Simulation results for two three joint arms moving a flexible beam, are presented to validate the theoretical results.
Keywords:
Sliding mode control, cooperative manipulators.