12,000

We have over 12,000 students, from over 100 countries, within one of the safest campuses in the UK

93%

93% of Lancaster students go into work or further study within six months of graduating

Home > Research > Publications & Outputs > State dependent control of a robotic manipulato...
View graph of relations

« Back

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

Research output: Contribution in Book/Report/ProceedingsConference contribution

Published

Publication date10/2010
Host publicationIEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010
Place of publicationTaipei, Taiwan
Pages2413-2418
Number of pages6
Original languageEnglish

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.