@inproceedings{9d3b8281ede54a19887744e9e3212102,
title = "Precision contouring control of 5 DOF dual-arm robot manipulators with holonomic constraints",
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.",
author = "Thanana Nuchkrua and Woraphrut Kornmaneesang and Chen, {Shyh Leh} and Sudchai Boonto",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE. Copyright: Copyright 2018 Elsevier B.V., All rights reserved.; null ; Conference date: 17-12-2017 Through 20-12-2017",
year = "2018",
month = feb,
day = "7",
doi = "10.1109/ASCC.2017.8287303",
language = "英语",
series = "2017 Asian Control Conference, ASCC 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "976--981",
booktitle = "2017 Asian Control Conference, ASCC 2017",
address = "United States",
}