Precision Contouring Control of 5 DOF Dual-arm Robot Manipulators with Holonomic Constraints

被引：0

作者：

Nuchkrua, Thanana ^{[1
]}

Kornmaneesang, Woraphrut ^{[1
]}

Chen, Shyh-Leh ^{[1
]}

Boonto, Sudchai ^{[2
]}

机构：

[1] Natl Chung Cheng Univ, Adv Inst Mfg High Tech Innovat, Chiayi, Taiwan

[2] King Mongkuts Univ Technol Thonburi, Dept Control Syst & Instrumentat Engn, Bangkok, Thailand

来源：

2017 11TH ASIAN CONTROL CONFERENCE (ASCC) | 2017年

关键词：

SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：976 / 981

页数：6

共 20 条

[1] Contouring control of smooth paths for multiaxis motion systems based on equivalent errors [J].