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

Conference proceedings article

Authors/Editors

SUDCHAI BOONTO

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Publication Details

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

Publisher: Hindawi

Publication year: 2018

Volume number: 2018-January

Start page: 976

End page: 981

Number of pages: 6

ISBN: 9781509015733

ISSN: 0146-9428

eISSN: 1745-4557

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85047532364&doi=10.1109%2fASCC.2017.8287303&partnerID=40&md5=97bf8e780f472262a22b5c23510c18e7

Languages: English-Great Britain (EN-GB)

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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. ฉ 2017 IEEE.

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