Experiments in nonsmooth control of distributed manipulation

T. D. Murphey*, J. W. Burdick, J. Burgess, A. Homyk

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

5 Scopus citations


This paper describes an experimental modular distributed manipulation system upon which one can implement a variety of control schemes. We have shown elsewhere that when one includes the nonsmooth effects of friction into a model of distributed manipulation, nonsmooth feedback laws must generally be used to control distributed manipulators. We summarize results obtained with this experimental system that confirm the validity of control schemes proposed by the authors in recent papers (see [13, 14]). We describe the control algorithms in some detail and include specifics of the experimental set-up and experimental results.

Original languageEnglish (US)
Pages (from-to)3600-3606
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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