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Coordination control of robot manipulators using flat outputs

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dc.contributor.author Markusa, Elisha D.
dc.contributor.author Yskander, Hamam
dc.contributor.author Ageeb, John T.
dc.contributor.author Jimoh, Adisa A.
dc.date.accessioned 2018-08-28T11:57:42Z
dc.date.available 2018-08-28T11:57:42Z
dc.date.issued 2016
dc.identifier.issn 0921-8890
dc.identifier.uri http://hdl.handle.net/11462/1585
dc.description Published Article en_US
dc.description.abstract This paper focuses on the synchronizing control of multiple interconnected flexible robotic manipulators using differential flatness theory. The flatness theory has the advantage of simplifying trajectory tracking tasks of complex mechanical systems. Using this theory, we propose a new synchronization scheme whereby a formation of flatness based systems can be stabilized using their respective flat outputs. Using the flat outputs, we eliminate the need for cross coupling laws and communication protocols associated with such formations. The problem of robot coordination is reduced to synchronizing the flat outputs between the respective robot manipulators. Furthermore, the selection of the flat output used for the synchronizing control is not restricted as any system variable can be used. The problem of unmeasured states used in the control is also solved by reconstructing the missing states using flatness based interpolation. The proposed control law is less computationally intensive when compared to earlier reported work as integration of the differential equations is not required. Simulations using a formation of single link flexible joint robots are used to validate the proposed synchronizing control. en_US
dc.format.extent 748 262 bytes, 1 file
dc.format.mimetype Application/PDF
dc.language.iso en_US en_US
dc.publisher Robotics and Autonomous Systems en_US
dc.relation.ispartofseries Volume 83;
dc.subject Differential flatness en_US
dc.subject Synchronizing control en_US
dc.subject Flat output en_US
dc.subject Flexible robot en_US
dc.subject Robot formation en_US
dc.title Coordination control of robot manipulators using flat outputs en_US
dc.type Article en_US

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