@inproceedings{8ca4170aa92f40249ab787fa8d01d377,
title = "Stable Capturing Strategy in the Dual-arm Time-Delay Capturing System with Hardware Closed Chain",
abstract = "When a multi-manipulator system is employed to carry out a capturing task, the hardware closed chain is formed. The capturing process with hardware closed chain may fail when the robot control system has non-negligible time delay. In this paper, the mathematical model of the capturing system is built and simplified for a feasible stability analysis. Three-dimensional root-locus is applied to explore the system stable condition and promote the stable capturing strategy. Simulations are carried out to validate the proposed theory and the results show that the system controlled by the strategy shows a considerable convergence.",
keywords = "3D-root-locus, capturing stability, discrete control system, dual-arm robot system, hardware closed chain, time delay",
author = "Xiaoyu Zhao and Yang Liu and Zongwu Xie",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 7th International Conference on Control, Automation and Robotics, ICCAR 2021 ; Conference date: 23-04-2021 Through 26-04-2021",
year = "2021",
month = apr,
day = "23",
doi = "10.1109/ICCAR52225.2021.9463505",
language = "英语",
series = "2021 7th International Conference on Control, Automation and Robotics, ICCAR 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "131--135",
booktitle = "2021 7th International Conference on Control, Automation and Robotics, ICCAR 2021",
address = "美国",
}