Control of a Shaking Belt Conveyor by a Novel Application of Floquet-lyapunov Theory
نویسندگان
چکیده
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.
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