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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/ISSN › Conference contribution/Paper › peer-review

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State dependent control of a robotic manipulator used for nuclear decommissioning activities. / Taylor, C. James; Chotai, Arun; Robertson, David.
IEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010. Taipei, Taiwan, 2010. p. 2413-2418.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Taylor, CJ, Chotai, A & Robertson, D 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. Taipei, Taiwan, pp. 2413-2418.

APA

Taylor, C. J., Chotai, A., & Robertson, D. (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 (pp. 2413-2418).

Vancouver

Taylor CJ, Chotai A, Robertson D. State dependent control of a robotic manipulator used for nuclear decommissioning activities. In IEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010. Taipei, Taiwan. 2010. p. 2413-2418

Author

Taylor, C. James ; Chotai, Arun ; Robertson, David. / State dependent control of a robotic manipulator used for nuclear decommissioning activities. IEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010. Taipei, Taiwan, 2010. pp. 2413-2418

Bibtex

@inproceedings{c7c7b677e8ca444fb517f68c554aa4f1,
title = "State dependent control of a robotic manipulator used for nuclear decommissioning activities.",
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.",
keywords = "State dependent parameter, mobile robot",
author = "Taylor, {C. James} and Arun Chotai and David Robertson",
year = "2010",
month = oct,
language = "English",
isbn = "978-1-4244-6675-7",
pages = "2413--2418",
booktitle = "IEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010",

}

RIS

TY - GEN

T1 - State dependent control of a robotic manipulator used for nuclear decommissioning activities.

AU - Taylor, C. James

AU - Chotai, Arun

AU - Robertson, David

PY - 2010/10

Y1 - 2010/10

N2 - 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.

AB - 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.

KW - State dependent parameter

KW - mobile robot

M3 - Conference contribution/Paper

SN - 978-1-4244-6675-7

SP - 2413

EP - 2418

BT - IEEE RSJ International Conference on Intelligent Robots and Systems IROS 2010

CY - Taipei, Taiwan

ER -