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Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane. / Mustalahti, Pauli; Mattila, Jouni.

8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM). IEEE, 2017. p. 201-206.

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Harvard

Mustalahti, P & Mattila, J 2017, Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane. in 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM). IEEE, pp. 201-206, IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 1/01/00. https://doi.org/10.1109/ICCIS.2017.8274774

APA

Mustalahti, P., & Mattila, J. (2017). Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane. In 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM) (pp. 201-206). IEEE. https://doi.org/10.1109/ICCIS.2017.8274774

Vancouver

Mustalahti P, Mattila J. Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane. In 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM). IEEE. 2017. p. 201-206 https://doi.org/10.1109/ICCIS.2017.8274774

Author

Mustalahti, Pauli ; Mattila, Jouni. / Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane. 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM). IEEE, 2017. pp. 201-206

Bibtex - Download

@inproceedings{ce649672e10e4257bfcffb300f315426,
title = "Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane",
abstract = "Articulated multiple degrees-of-freedom (DOF) hydraulic manipulators are used in many industry tasks. These hydraulic manipulators can be used to move heavy loads, such as logs and containers. The grasping tool of these manipulators is often connected at the tip of the manipulator by using unactuated revolute joints, which are not directly controllable. Currently, work performed efficiently by commercial hydraulic manipulators depends on the driver, and the automation level of these manipulators is relatively low. The Virtual Decomposition Control (VDC) is the nonlinear model-based control theory, which performs subsystem-based control design and stability analysis for complex multiple DOF redundant hydraulics manipulators. In this paper, we present a VDC approach based nonlinear full-model-based anti-sway controller for a redundant manipulator in vertical plane. The experimental results, with a full-size redundant hydraulic manipulator, verify that the proposed anti-sway control efficiently damps load swaying in the vertical plane motions.",
author = "Pauli Mustalahti and Jouni Mattila",
year = "2017",
doi = "10.1109/ICCIS.2017.8274774",
language = "English",
pages = "201--206",
booktitle = "8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM)",
publisher = "IEEE",

}

RIS (suitable for import to EndNote) - Download

TY - GEN

T1 - Nonlinear Full-Model-Based Controller for Unactuated Joints in Vertical Plane

AU - Mustalahti, Pauli

AU - Mattila, Jouni

PY - 2017

Y1 - 2017

N2 - Articulated multiple degrees-of-freedom (DOF) hydraulic manipulators are used in many industry tasks. These hydraulic manipulators can be used to move heavy loads, such as logs and containers. The grasping tool of these manipulators is often connected at the tip of the manipulator by using unactuated revolute joints, which are not directly controllable. Currently, work performed efficiently by commercial hydraulic manipulators depends on the driver, and the automation level of these manipulators is relatively low. The Virtual Decomposition Control (VDC) is the nonlinear model-based control theory, which performs subsystem-based control design and stability analysis for complex multiple DOF redundant hydraulics manipulators. In this paper, we present a VDC approach based nonlinear full-model-based anti-sway controller for a redundant manipulator in vertical plane. The experimental results, with a full-size redundant hydraulic manipulator, verify that the proposed anti-sway control efficiently damps load swaying in the vertical plane motions.

AB - Articulated multiple degrees-of-freedom (DOF) hydraulic manipulators are used in many industry tasks. These hydraulic manipulators can be used to move heavy loads, such as logs and containers. The grasping tool of these manipulators is often connected at the tip of the manipulator by using unactuated revolute joints, which are not directly controllable. Currently, work performed efficiently by commercial hydraulic manipulators depends on the driver, and the automation level of these manipulators is relatively low. The Virtual Decomposition Control (VDC) is the nonlinear model-based control theory, which performs subsystem-based control design and stability analysis for complex multiple DOF redundant hydraulics manipulators. In this paper, we present a VDC approach based nonlinear full-model-based anti-sway controller for a redundant manipulator in vertical plane. The experimental results, with a full-size redundant hydraulic manipulator, verify that the proposed anti-sway control efficiently damps load swaying in the vertical plane motions.

U2 - 10.1109/ICCIS.2017.8274774

DO - 10.1109/ICCIS.2017.8274774

M3 - Conference contribution

SP - 201

EP - 206

BT - 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS), Robotics, Automation and Mechatronics (RAM)

PB - IEEE

ER -