Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function

An adaptive shape servoing control method is presented in this article to manipulate a deformable object into a desired shape in 3-D. A finite-point-based representation of the deformable object is used and the deformation Jacobian matrix is approximated using Fourier series basis functions. The unk...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics Jg. 29; H. 6; S. 4640 - 4650
Hauptverfasser:	Guthikonda, Vrithik Raj, Dani, Ashwin P.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	2230 Support IEEE 01.12.2024 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Adaptation models Adaptive control Algorithms Barrier Lyapunov function (BLF)-based constrained control Basis functions Concurrent computing Constraint handling Control methods Controllers Deformable models deformable objects modeling Deformation Electronics and Electrical Engineering Formability Fourier series Function analysis integral concurrent learning (ICL) parameter estimation Jacobi matrix method Jacobian matrices Jacobian matrix Liapunov functions Lyapunov methods Mechanical Engineering Parameter estimation Parameters Robot dynamics Servocontrol Servosystems Shape control shape servoing Task analysis Vectors
ISSN:	1083-4435, 1941-014X
Online-Zugang:	Volltext
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