Virtual decomposition based control for generalized high dimensional robotic systems with complicated structure

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dc.contributor.authorZhu, WHko
dc.contributor.authorXi, YGko
dc.contributor.authorZhang, ZJko
dc.contributor.authorBien, Zeung namko
dc.contributor.authorDeSchutter, Jko
dc.date.accessioned2013-03-03T08:43:35Z-
dc.date.available2013-03-03T08:43:35Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued1997-06-
dc.identifier.citationIEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.13, no.3, pp.411 - 436-
dc.identifier.issn1042-296X-
dc.identifier.urihttp://hdl.handle.net/10203/78022-
dc.description.abstractThis paper presents a systematic adaptive control strategy which can accomplish a variety of control objectives (position control, internal force control, constraints, and optimizations) for the generalized high dimensional robotic systems (GHDRS) without restriction on target systems. Based on the concept of virtual decomposition by which a GHDRS is virtually decomposed into several objects and base-floating open chains, the motion control problem of the original system is converted into that of each object and that of each open chain, individually, while the internal force control as well as the constraint force control may be performed with respect to each object only. This feature makes it possible to implement the control algorithm of each subsystem in modularly structured hardware which can be integrated to form any specific robot controller dedicated to a specific application. In the sense of Lyapunov, it is the first time to declare that the dynamic coupling between every two physically connected subsystems can be completely represented by the so-called virtual power flows (VPF's) at the cutting points between them. Asymptotic stability of the complete system can be ensured by choosing the system Lyapunov function as the sum of all nonnegative accompanying functions assigned for the subsystems. Some possible applications based on the proposed approach are discussed. Finally, computer simulations of two PUMA 560 arms transporting a common object along a prespecified trajectory are carried out to verify the stability and robustness issues of the system.-
dc.languageEnglish-
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC-
dc.subjectPOSITION FORCE CONTROL-
dc.subjectCOORDINATED REDUNDANT ROBOTS-
dc.subjectFLOATING SPACE MANIPULATORS-
dc.subjectADAPTIVE-CONTROL-
dc.subjectMOTION CONTROL-
dc.subjectCOOPERATING MANIPULATORS-
dc.subjectFUNDAMENTAL PROBLEMS-
dc.subjectARM CONFIGURATIONS-
dc.subjectCONSTRAINED ROBOTS-
dc.subjectINDUSTRIAL ROBOTS-
dc.titleVirtual decomposition based control for generalized high dimensional robotic systems with complicated structure-
dc.typeArticle-
dc.identifier.wosidA1997XB58400009-
dc.identifier.scopusid2-s2.0-0031165590-
dc.type.rimsART-
dc.citation.volume13-
dc.citation.issue3-
dc.citation.beginningpage411-
dc.citation.endingpage436-
dc.citation.publicationnameIEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION-
dc.contributor.localauthorBien, Zeung nam-
dc.contributor.nonIdAuthorZhu, WH-
dc.contributor.nonIdAuthorXi, YG-
dc.contributor.nonIdAuthorZhang, ZJ-
dc.contributor.nonIdAuthorDeSchutter, J-
dc.type.journalArticleArticle-
dc.subject.keywordAuthoradaptive control-
dc.subject.keywordAuthorcontrol of complex robots-
dc.subject.keywordAuthorcontrol of multiple robots-
dc.subject.keywordAuthorcontrol of space robots-
dc.subject.keywordAuthorcontrol systems-
dc.subject.keywordAuthordynamics-
dc.subject.keywordAuthorLyapunov methods-
dc.subject.keywordAuthormanipulators-
dc.subject.keywordAuthormodular design stability-
dc.subject.keywordAuthormotion force control-
dc.subject.keywordAuthornonlinear systems-
dc.subject.keywordAuthorparameter estimation-
dc.subject.keywordAuthorposition control-
dc.subject.keywordAuthorstability-
dc.subject.keywordAuthorvirtual decomposition control-
dc.subject.keywordPlusPOSITION FORCE CONTROL-
dc.subject.keywordPlusCOORDINATED REDUNDANT ROBOTS-
dc.subject.keywordPlusFLOATING SPACE MANIPULATORS-
dc.subject.keywordPlusADAPTIVE-CONTROL-
dc.subject.keywordPlusMOTION CONTROL-
dc.subject.keywordPlusCOOPERATING MANIPULATORS-
dc.subject.keywordPlusFUNDAMENTAL PROBLEMS-
dc.subject.keywordPlusARM CONFIGURATIONS-
dc.subject.keywordPlusCONSTRAINED ROBOTS-
dc.subject.keywordPlusINDUSTRIAL ROBOTS-
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