Rolling manipulation control of the disk-on-disk on a two-link arm

Ji Chul Ryu, Kevin M Lynch

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

1 Scopus citations

Abstract

In this paper, we design a feedback controller to stabilize the disk-on-disk system attached to a 2-link arm. The disk-on-disk consists of two disks in which the upper disk (object) is free to roll on top of the lower disk (hand) under the influence of gravity. In addition, the center of the hand is attached to the end point of the 2-link arm enabling the hand to move in translation as well as rotation. The proposed controller stabilizes the object disk on top of the hand at a target X-Y position in a vertical plane. The dynamic model of the system is derived and the dynamic feedback linearization method is used in the design of the controller. The performance of the controller is demonstrated through simulation results.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages840-845
Number of pages6
ISBN (Electronic)9781509023943
DOIs
StatePublished - Sep 1 2016
Event13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 - Harbin, Heilongjiang, China
Duration: Aug 7 2016Aug 10 2016

Other

Other13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016
CountryChina
CityHarbin, Heilongjiang
Period8/7/168/10/16

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence
  • Computer Science Applications
  • Software

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