A novel technique of dual-arm robot manipulators: Path-contouring control problem

Thanana Nuchkrua, Shyh Leh Chen, Sudchai Boonto

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The problem of Path-contouring Control of dual arm robot manipulators is defined by the equivalent contour errors determining the desired path. Equivalent errors approach utilizes the n - 1 equivalent contour error in terms of algebraic equation and one tangential error to obtain the new nonlinear coordinate system. It becomes the problem of stabilization of Path-contouring Control. As a result, the existing control techniques can be considered to deal with such the problem of stabilization. The results of experiment demonstrate the excellent performance of the proposed technique.

Original languageEnglish
Title of host publication2017 13th IEEE International Conference on Control and Automation, ICCA 2017
PublisherIEEE Computer Society
Pages867-871
Number of pages5
ISBN (Electronic)9781538626795
DOIs
StatePublished - 4 Aug 2017
Externally publishedYes
Event13th IEEE International Conference on Control and Automation, ICCA 2017 - Ohrid, Macedonia, The Former Yugoslav Republic of
Duration: 3 Jul 20176 Jul 2017

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Conference

Conference13th IEEE International Conference on Control and Automation, ICCA 2017
CountryMacedonia, The Former Yugoslav Republic of
CityOhrid
Period3/07/176/07/17

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