A Hybrid Robust Lyapunov Controller for Dynamic Catch, Grasp and Carry Maneuvers-Reference-Cited by-同舟云学术

A Hybrid Robust Lyapunov Controller for Dynamic Catch, Grasp and Carry Maneuvers

Published:2015-08-01 Issue:8 Volume:137 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Yunt Kerim¹

Affiliation:

1. Mem. ASME General Control Design Inc., am Holbrig 4, Zürich 8049, Switzerland e-mail:

Abstract

A hybrid Lyapunov based controller for dynamic catch, grasp, and carry tasks of grippers is developed. The Lyapunov controller unifies the trajectory planning and tracking tasks in one, and neither a separate trajectory planning algorithm is needed to run offline nor any type of learning process. The robustness of the controller is demonstrated, through simulations with inertial parametric uncertainties. The concept is presented with the simulations of six degrees-of-freedom (DOF) double revolute (RR) planar manipulator with a 4DOF gripper and a 8DOF triple revolute (RRR) manipulator with a 5DOF gripper.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4030285/6121059/ds_137_08_081012.pdf

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