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 proceedingConference contributionpeer-review

1 Scopus citations

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 languageEnglish
Title of host publication2017 Asian Control Conference, ASCC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages976-981
Number of pages6
ISBN (Electronic)9781509015733
DOIs
StatePublished - 7 Feb 2018
Externally publishedYes
Event2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
Duration: 17 Dec 201720 Dec 2017

Publication series

Name2017 Asian Control Conference, ASCC 2017
Volume2018-January

Conference

Conference2017 11th Asian Control Conference, ASCC 2017
Country/TerritoryAustralia
CityGold Coast
Period17/12/1720/12/17

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