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- W1978356918 abstract "In this paper we introduce feedback control methods for distributed manipulation systems thatmove objects via rolling and slipping point contacts. Because of the intermittent nature of these mechanical contacts, the governing mechanics of these systems are inherently nonsmooth. We first present a methodology to model these non-smooth mechanical effects in a manner that is tractable for non-smooth control analysis. Using these models, we show that when considerations of these non-smooth effects are taken into account, a class of traditional open-loop distributed manipulation control methods cannot stabilize objects near an equilibrium. However, stability can be achieved through the use of feedback, and we present non-smooth feedback laws with guaranteed stability properties. We then describe an experimental modular distributed manipulation test-bed upon which one can implement a variety of control schemes. Experiments with this test-bed confirm the validity of our control algorithms. Multimedia extensions include videos of these experiments." @default.
- W1978356918 created "2016-06-24" @default.
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- W1978356918 date "2004-08-01" @default.
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- W1978356918 title "Feedback Control Methods for Distributed Manipulation Systems that Involve Mechanical Contacts" @default.
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- W1978356918 doi "https://doi.org/10.1177/0278364904045480" @default.
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