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State dependent control of a robotic manipulator used for nuclear decommissioning activities.

Taylor, C. James and Chotai, Arun and Robertson, David (2010) State dependent control of a robotic manipulator used for nuclear decommissioning activities. In: IEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010. UNSPECIFIED, Taipei, Taiwan, pp. 2413-2418. ISBN 978-1-4244-6675-7

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Abstract

This article considers pole assignment control of nonlinear dynamic systems described by State Dependent Parameter (SDP) models, with a particular focus on a Brokk-40 mobile robot and Hydro-Lek HLK-7W two-arm manipulator used for nuclear decommissioning tasks. The UK nuclear legacy comprises a number of facilities that are significantly contaminated by radioactivity and non-radiological toxins. Here, the use of remote and teleoperated robotic solutions provide an invaluable option for the safe retrieval and disposal of contaminated materials. Since the behaviour of hydraulically-driven manipulators is dominated by the nonlinear, lightly-damped dynamics of the actuators, existing systems can suffer from a relatively slow and imprecise control action. For this reason, the research utilises a non-minimal state variable feedback approach to control system design, in which the control gains are updated at each sampling instant.

Item Type: Contribution in Book/Report/Proceedings
Uncontrolled Keywords: State dependent parameter ; mobile robot
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments: Faculty of Science and Technology > Engineering
Faculty of Science and Technology > Lancaster Environment Centre
ID Code: 33957
Deposited By: Dr C. James Taylor (Engineering)
Deposited On: 02 Nov 2010 16:21
Refereed?: No
Published?: Published
Last Modified: 24 Jan 2014 05:59
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/33957

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