Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints

Thanana Nuchkrua; Woraphrut Kornmaneesang; Shyh Leh Chen; Sudchai Boonto

doi:10.1109/ASCC.2017.8287303

Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints

Thanana Nuchkrua, Woraphrut Kornmaneesang, Shyh Leh Chen, Sudchai Boonto

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

Abstract

In this paper, the contouring control problem for the 5 DoF dual-arm robot manipulators with constraints is studied. The method of equivalent errors, previously proposed for unconstrained motion systems, is generalized to the system with holonomic constraints in which Lagrange approach is taken. It is demonstrated that the proposed method can be applied to the constrained system provided that the constraints satisfy a proper condition. The contouring controller design is dealt with the problem of stabilization obtained by equivalent errors. Experimental results for contouring paths with different feed-rate verify the effectiveness of the proposed method.

Original language	English
Title of host publication	2017 Asian Control Conference, ASCC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	976-981
Number of pages	6
ISBN (Electronic)	9781509015733
DOIs	https://doi.org/10.1109/ASCC.2017.8287303
State	Published - 7 Feb 2018
Externally published	Yes
Event	2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia Duration: 17 Dec 2017 → 20 Dec 2017

Publication series

Name	2017 Asian Control Conference, ASCC 2017
Volume	2018-January

Conference

Conference	2017 11th Asian Control Conference, ASCC 2017
Country	Australia
City	Gold Coast
Period	17/12/17 → 20/12/17

Access to Document

10.1109/ASCC.2017.8287303

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Cite this

Nuchkrua, T., Kornmaneesang, W., Chen, S. L., & Boonto, S. (2018). Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints. In 2017 Asian Control Conference, ASCC 2017 (pp. 976-981). (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2017.8287303

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Nuchkrua, T, Kornmaneesang, W, Chen, SL & Boonto, S 2018, Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints. in 2017 Asian Control Conference, ASCC 2017. 2017 Asian Control Conference, ASCC 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 976-981, 2017 11th Asian Control Conference, ASCC 2017, Gold Coast, Australia, 17/12/17. https://doi.org/10.1109/ASCC.2017.8287303

Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints. / Nuchkrua, Thanana; Kornmaneesang, Woraphrut; Chen, Shyh Leh; Boonto, Sudchai.

2017 Asian Control Conference, ASCC 2017. Institute of Electrical and Electronics Engineers Inc., 2018. p. 976-981 (2017 Asian Control Conference, ASCC 2017; Vol. 2018-January).

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

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