Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

SAGETRACK
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in ISI Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via ISI Web of Science (6)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Murphey, T. D.
Right arrow Articles by Burdick, J. W.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati  
What's this?

Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts

T. D. Murphey

J. W. Burdick

Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA

In this paper we introduce feedback control methods for distributed manipulation systems thatmove objects via rolling and slipping point contacts. Because of the intermittent nature of these mechanical contacts, the governing mechanics of these systems are inherently nonsmooth. We first present a methodology to model these non-smooth mechanical effects in a manner that is tractable for non-smooth control analysis. Using these models, we show that when considerations of these non-smooth effects are taken into account, a class of traditional open-loop distributed manipulation control methods cannot stabilize objects near an equilibrium. However, stability can be achieved through the use of feedback, and we present non-smooth feedback laws with guaranteed stability properties. We then describe an experimental modular distributed manipulation test-bed upon which one can implement a variety of control schemes. Experiments with this test-bed confirm the validity of our control algorithms. Multimedia extensions include videos of these experiments.

Key Words: distributed manipulation • contact modeling • feedback control

The International Journal of Robotics Research, Vol. 23, No. 7-8, 763-781 (2004)
DOI: 10.1177/0278364904045480
Add to CiteULike CiteULike   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati    What's this?