Geometrie derived information spaces in manipulation with mechanical contact

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes methods applicable to the modeling and control of mechanical contact, particularly those that experience uncertain stick/slip phenomena. Geometric kinematic reductions are used to show how to reduce a system's description from a second-order dynamic model with frictional disturbances coming from a function space to a first-order model with frictional disturbances coming from a space of finite automata over a finite set. As a result, modeling for purposes of control in the resulting derived information space is made more straight-forward by getting rid of some dependencies on low-level mechanics (in particular, the details of friction modeling). Moreover, the online estimation of the uncertain variables in the derived information space has reduced sensing requirements. Results are illustrated using an actuator array model.

Original languageEnglish (US)
Title of host publicationProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
Pages338-345
Number of pages8
DOIs
StatePublished - Dec 1 2007
Event3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007 - Scottsdale, AZ, United States
Duration: Sep 22 2007Sep 25 2007

Publication series

NameProceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007

Other

Other3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007
CountryUnited States
CityScottsdale, AZ
Period9/22/079/25/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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