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

Thanana Nuchkrua; Shyh Leh Chen; Sudchai Boonto

doi:10.1109/ICCA.2017.8003174

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 proceeding › Conference contribution › peer-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 language	English
Title of host publication	2017 13th IEEE International Conference on Control and Automation, ICCA 2017
Publisher	IEEE Computer Society
Pages	867-871
Number of pages	5
ISBN (Electronic)	9781538626795
DOIs	https://doi.org/10.1109/ICCA.2017.8003174
State	Published - 4 Aug 2017
Externally published	Yes
Event	13th IEEE International Conference on Control and Automation, ICCA 2017 - Ohrid, Macedonia, The Former Yugoslav Republic of Duration: 3 Jul 2017 → 6 Jul 2017

Publication series

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

Conference

Conference	13th IEEE International Conference on Control and Automation, ICCA 2017
Country	Macedonia, The Former Yugoslav Republic of
City	Ohrid
Period	3/07/17 → 6/07/17

Access to Document

10.1109/ICCA.2017.8003174

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Cite this

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title = "A novel technique of dual-arm robot manipulators: Path-contouring control problem",

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.",

author = "Thanana Nuchkrua and Chen, {Shyh Leh} and Sudchai Boonto",

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Nuchkrua, T, Chen, SL & Boonto, S 2017, A novel technique of dual-arm robot manipulators: Path-contouring control problem. in 2017 13th IEEE International Conference on Control and Automation, ICCA 2017., 8003174, IEEE International Conference on Control and Automation, ICCA, IEEE Computer Society, pp. 867-871, 13th IEEE International Conference on Control and Automation, ICCA 2017, Ohrid, Macedonia, The Former Yugoslav Republic of, 3/07/17. https://doi.org/10.1109/ICCA.2017.8003174

A novel technique of dual-arm robot manipulators : Path-contouring control problem. / Nuchkrua, Thanana; Chen, Shyh Leh; Boonto, Sudchai.

2017 13th IEEE International Conference on Control and Automation, ICCA 2017. IEEE Computer Society, 2017. p. 867-871 8003174 (IEEE International Conference on Control and Automation, ICCA).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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