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

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSNConference contribution/Paperpeer-review

Publication date10/2010
Host publicationIEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010
Place of PublicationTaipei, Taiwan
Number of pages6
<mark>Original language</mark>English


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.