Home > Publications > Control of a shaking belt conveyor by a novel application of Floquet-Lyapunov theory

Control of a shaking belt conveyor by a novel application of Floquet-Lyapunov theory

Abstract:

One method for realizing the self-orientation of workpieces for grasping by a robot is by means of a shaking belt conveyor. Control of small perturbations around the steady state leads to the control of a linear time-periodic system. We propose and successfully implement an approach for control based on a novel application of Floquet-Lyapunov theory.

Authors: Raymond J. Spiteri, Pierre Montagnier, Jorge Angeles

Download: csme98