IDEAS home Printed from https://ideas.repec.org/a/eee/matcom/v79y2008i4p906-916.html
   My bibliography  Save this article

Recursive modeling and control of multi-link manipulators with vacuum grippers

Author

Listed:
  • Callies, R.
  • Fronz, S.

Abstract

Manipulators equipped with vacuum grippers are a new and flexible element in innovative material-flow solutions. The limited holding forces of vacuum grippers require elaborate strategies of control to prevent the contact between gripper and load from breaking off especially in time optimal motion. Mathematically this can be modeled as a constraint on internal forces of a multi-link manipulator. A Maximum Principle based approach is presented for the accurate solution of the control problem. Not only the equations of motion of the manipulator, but the complete optimal control problem is modeled recursively. By this, the structural properties of the control problem are revealed. Direct access becomes possible to all information necessary to restrict internal forces efficiently.

Suggested Citation

  • Callies, R. & Fronz, S., 2008. "Recursive modeling and control of multi-link manipulators with vacuum grippers," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 79(4), pages 906-916.
    • Handle: RePEc:eee:matcom:v:79:y:2008:i:4:p:906-916
    DOI: 10.1016/j.matcom.2008.02.003
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0378475408000992
    Download Restriction: Full text for ScienceDirect subscribers only
    File URL: https://libkey.io/10.1016/j.matcom.2008.02.003?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:matcom:v:79:y:2008:i:4:p:906-916. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: http://www.journals.elsevier.com/mathematics-and-computers-in-simulation/ .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.