Modeling and control of multiple-contact manipulation without modeling friction

Todd D. Murphey

doi:10.1109/acc.2006.1657215

Modeling and control of multiple-contact manipulation without modeling friction

Todd D. Murphey^*

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

Multiple contact manipulation often involves contacts that slip or lose contact over time. This slipping introduces frictional reaction forces between the manipulator and the surface. However, in complex systems in uncertain environments, these frictional interactions may not be well-characterized. This paper discusses the reduction of such external forces in multiple contact systems. We then present two examples: a macro-scale multi-point manipulator and MEMS scratch drive actuators (SDA) array to illustrate how the techniques presented can simplify the control design for such devices.

Original language	English (US)
Title of host publication	Proceedings of the 2006 American Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3227-3234
Number of pages	8
ISBN (Print)	1424402107, 9781424402106
DOIs	https://doi.org/10.1109/acc.2006.1657215
State	Published - 2006
Event	2006 American Control Conference - Minneapolis, MN, United States Duration: Jun 14 2006 → Jun 16 2006

Publication series

Name	Proceedings of the American Control Conference
Volume	2006
ISSN (Print)	0743-1619

Other

Other	2006 American Control Conference
Country/Territory	United States
City	Minneapolis, MN
Period	6/14/06 → 6/16/06

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2006.1657215

Cite this

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title = "Modeling and control of multiple-contact manipulation without modeling friction",

abstract = "Multiple contact manipulation often involves contacts that slip or lose contact over time. This slipping introduces frictional reaction forces between the manipulator and the surface. However, in complex systems in uncertain environments, these frictional interactions may not be well-characterized. This paper discusses the reduction of such external forces in multiple contact systems. We then present two examples: a macro-scale multi-point manipulator and MEMS scratch drive actuators (SDA) array to illustrate how the techniques presented can simplify the control design for such devices.",

author = "Murphey, {Todd D.}",

year = "2006",

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language = "English (US)",

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series = "Proceedings of the American Control Conference",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3227--3234",

booktitle = "Proceedings of the 2006 American Control Conference",

address = "United States",

note = "2006 American Control Conference ; Conference date: 14-06-2006 Through 16-06-2006",

}

Murphey, TD 2006, Modeling and control of multiple-contact manipulation without modeling friction. in Proceedings of the 2006 American Control Conference., 1657215, Proceedings of the American Control Conference, vol. 2006, Institute of Electrical and Electronics Engineers Inc., pp. 3227-3234, 2006 American Control Conference, Minneapolis, MN, United States, 6/14/06. https://doi.org/10.1109/acc.2006.1657215

Modeling and control of multiple-contact manipulation without modeling friction. / Murphey, Todd D.
Proceedings of the 2006 American Control Conference. Institute of Electrical and Electronics Engineers Inc., 2006. p. 3227-3234 1657215 (Proceedings of the American Control Conference; Vol. 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - Multiple contact manipulation often involves contacts that slip or lose contact over time. This slipping introduces frictional reaction forces between the manipulator and the surface. However, in complex systems in uncertain environments, these frictional interactions may not be well-characterized. This paper discusses the reduction of such external forces in multiple contact systems. We then present two examples: a macro-scale multi-point manipulator and MEMS scratch drive actuators (SDA) array to illustrate how the techniques presented can simplify the control design for such devices.

AB - Multiple contact manipulation often involves contacts that slip or lose contact over time. This slipping introduces frictional reaction forces between the manipulator and the surface. However, in complex systems in uncertain environments, these frictional interactions may not be well-characterized. This paper discusses the reduction of such external forces in multiple contact systems. We then present two examples: a macro-scale multi-point manipulator and MEMS scratch drive actuators (SDA) array to illustrate how the techniques presented can simplify the control design for such devices.

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T3 - Proceedings of the American Control Conference

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BT - Proceedings of the 2006 American Control Conference

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ER -

Modeling and control of multiple-contact manipulation without modeling friction

Abstract

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