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

Full text not available from this repository.

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:
/dk/atira/pure/researchoutput/libraryofcongress/tk
Subjects:
ID Code:
33957
Deposited On:
02 Nov 2010 16:21
Refereed?:
Yes
Published?:
Published
Last Modified:
05 Aug 2020 09:08