'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
Abstract—In this paper, a sliding-mode-based design framework
for fully actuated mechanical multibody system is discussed.
The framework is based on the possibility to represent complex
motion as a collection of tasks and to find effective mapping of
the system coordinates that allows decoupling task and constraint
control so one is able to enforce concurrently, or in certain time
succession, the task and the constraints. The approach seems naturally
encompassing the control of motion systems in interaction,
and it allows application to bilateral control, multilateral control,
etc. Such an approach leads to a more natural interpretation of
the system tasks, simpler controller design, and easier establishment
of the systems hierarchy. It allows a unified mathematical
treatment of task control in the presence of constraints required
to be satisfied by the system coordinates. In order to show the
applicability of the proposed techniques, simulation and experimental
results for high-precision systems in microsystem assembly
tasks and bilateral control systems are presented
