Modeling and control of multiple-contact manipulation without modeling friction

Todd D. Murphey*

*Corresponding author for this work

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

1 Scopus citations


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 languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)1424402107, 9781424402106
StatePublished - Jan 1 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2006 American Control Conference
CountryUnited States
CityMinneapolis, MN

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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