A Hybrid Robust Lyapunov Controller for Dynamic Catch, Grasp and Carry ManeuversSource: Journal of Dynamic Systems, Measurement, and Control:;2015:;volume( 137 ):;issue: 008::page 81012Author:Yunt, Kerim
DOI: 10.1115/1.4030285Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A hybrid Lyapunov based controller for dynamic catch, grasp, and carry tasks of grippers is developed. The Lyapunov controller unifies the trajectory planning and tracking tasks in one, and neither a separate trajectory planning algorithm is needed to run offline nor any type of learning process. The robustness of the controller is demonstrated, through simulations with inertial parametric uncertainties. The concept is presented with the simulations of six degreesoffreedom (DOF) double revolute (RR) planar manipulator with a 4DOF gripper and a 8DOF triple revolute (RRR) manipulator with a 5DOF gripper.
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| contributor author | Yunt, Kerim | |
| date accessioned | 2017-05-09T01:16:38Z | |
| date available | 2017-05-09T01:16:38Z | |
| date issued | 2015 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_137_08_081012.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/157583 | |
| description abstract | A hybrid Lyapunov based controller for dynamic catch, grasp, and carry tasks of grippers is developed. The Lyapunov controller unifies the trajectory planning and tracking tasks in one, and neither a separate trajectory planning algorithm is needed to run offline nor any type of learning process. The robustness of the controller is demonstrated, through simulations with inertial parametric uncertainties. The concept is presented with the simulations of six degreesoffreedom (DOF) double revolute (RR) planar manipulator with a 4DOF gripper and a 8DOF triple revolute (RRR) manipulator with a 5DOF gripper. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Hybrid Robust Lyapunov Controller for Dynamic Catch, Grasp and Carry Maneuvers | |
| type | Journal Paper | |
| journal volume | 137 | |
| journal issue | 8 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4030285 | |
| journal fristpage | 81012 | |
| journal lastpage | 81012 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2015:;volume( 137 ):;issue: 008 | |
| contenttype | Fulltext |