TY - CHAP
T1 - Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints
AU - Nuchkrua, Thanana
AU - Kornmaneesang, Woraphrut
AU - Chen, Shyh Leh
AU - Boonto, Sudchai
PY - 2018/7
Y1 - 2018/7
N2 - In this paper, the contouring control problem for the 5 DoF dual-arm robot manipulators with constraints is studied. The method of equivalent errors, previously proposed for unconstrained motion systems, is generalized to the system with holonomic constraints in which Lagrange approach is taken. It is demonstrated that the proposed method can be applied to the constrained system provided that the constraints satisfy a proper condition. The contouring controller design is dealt with the problem of stabilization obtained by equivalent errors. Experimental results for contouring paths with different feed-rate verify the effectiveness of the proposed method.
AB - In this paper, the contouring control problem for the 5 DoF dual-arm robot manipulators with constraints is studied. The method of equivalent errors, previously proposed for unconstrained motion systems, is generalized to the system with holonomic constraints in which Lagrange approach is taken. It is demonstrated that the proposed method can be applied to the constrained system provided that the constraints satisfy a proper condition. The contouring controller design is dealt with the problem of stabilization obtained by equivalent errors. Experimental results for contouring paths with different feed-rate verify the effectiveness of the proposed method.
UR - https://www.mendeley.com/catalogue/610a7d64-b096-317b-89bb-b6b5e1316fb5/
U2 - 10.1109/ASCC.2017.8287303
DO - 10.1109/ASCC.2017.8287303
M3 - Chapter
SN - 9781509015733
T3 - 2017 Asian Control Conference, ASCC 2017
SP - 976
EP - 981
BT - 2017 Asian Control Conference, ASCC 2017
ER -