Abstract
This paper presents an approach to the indirect simultaneous positioning task of deformable objects based on robust linear output regulation methods. Indirect control requires maneuvering control points defined on a deformable body to desired locations by manipulating points located elsewhere on the object. The proposed control scheme uses a linearization of the deformable object dynamics into a state-space model for which the inputs are the forces applied to the manipulation points and the outputs are the positions of the control points. Then, the indirect simultaneous positioning task is treated as a classical robust linear output regulation problem. The proposed controller can compensate for deformable model nonlinearities and material uncertainties. The controller performance is illustrated through simulation and experimental results obtained on a planar deformable object model. The experiment was conducted using a robot controlled to apply desired end-effector forces on the planar object.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.