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

Conference proceedings article

Authors/Editors

SUDCHAI BOONTO

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Publication Details

Author list: Nuchkrua T., Chen S.-L., Boonto S.

Publication year: 2017

Start page: 867

End page: 871

Number of pages: 5

ISBN: 9781538626795

ISSN: 1948-3449

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85029894949&doi=10.1109%2fICCA.2017.8003174&partnerID=40&md5=e6587a4d8c03dc607ccdef577ea4f6fa

Languages: English-Great Britain (EN-GB)

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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. ฉ 2017 IEEE.

Keywords