A compliance modeling method of flexible rotary joint for collaborative robot using passive network synthesis theory

Xu, Shoulin; He, Bin

doi:10.1177/09544062211047113

Cited by 6 publications

(10 citation statements)

References 35 publications

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“…Hence, Equations ( 24), (11), and (12) give the overall cooperative multiple elastic-joint arms dynamics.…”

Section: The Overall Dynamic Systemmentioning

confidence: 99%

“…The overall dynamical model of the system shown by Equations ( 11), (12), and ( 24) contains important issues such as nonlinearities, uncertainties, flexibility at the joint, as well as interactions between the joints, making the control issue highly difficult. To deal with this issue, a robust adaptive controller is designed for coordinated multiple elastic-joints robot manipulators by employing the backstepping method, guaranteeing uniformly ultimate boundedness of all the error signals.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Theorem 1. Consider the dynamic system (11), (12), and (24) with the control inputs (33), (49), and (59). Assume that, the system's uncertainties are approximated using ( 38), ( 52), and (62).…”

Section: Analysis Of the Stabilitymentioning

confidence: 99%

“…The inner loop control law is a global tracking controller, in agreement with the high‐order inverse dynamics concept and the passivity theorem, while the control law related to the outer loop inserts desired impedance between the two end‐effectors and the object. Reference 12 investigated an efficient and different compliance modeling theory for cooperative elastic joint robots. Reference 13 offered a decentralized controller to gain a solution for the leaderless consensus issues with undirected network topology.…”

Section: Introductionmentioning

confidence: 99%

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Cooperative multiple elastic‐joint arms control using the (p, q)‐analogue of Bernstein operators as the uncertainty approximator

Bayat

Izadbakhsh

2023

Intl J Robust & Nonlinear

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This paper presents the position-force tracking control problem of cooperative multiple elastic-joint robotic arms, encountering model nonlinearities, unknown perturbations, and dynamic uncertainties. To this mean, an adaptive function approximation technique (FAT) is proposed, authorizing the reference trajectory to be tracked by the object. This potential originates from the universal approximation feature of the FAT-based methodologies. The (p, q)-analogue of the Bernstein operators is utilized for this purpose. Since the systems' parameters are not precisely known, adaptive laws are employed for adjusting the uncertainty coefficients. The Lyapunov stability theorem assures that all signals in the error space remain uniformly ultimately bounded (UUB). In the end, two elastic-joint arms carrying a rigid object are utilized for validation of the theoretical outcomes. The suggested strategy is also compared to the Chebyshev neural network (CNN). The results show the benefit of the existing method, managing the system even in the presence of disturbances and uncertainties with lower tuning parameters compared with CNN.

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“…Hence, Equations ( 24), (11), and (12) give the overall cooperative multiple elastic-joint arms dynamics.…”

Section: The Overall Dynamic Systemmentioning

confidence: 99%

Section: Problem Formulationmentioning

confidence: 99%

Section: Analysis Of the Stabilitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Cooperative multiple elastic‐joint arms control using the (p, q)‐analogue of Bernstein operators as the uncertainty approximator

Bayat

Izadbakhsh

2023

Intl J Robust & Nonlinear

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“…For flexible robots, (Yin, 2018) presented the dynamic control based on rigid-flexible coupling dynamics. (Xu and He, 2022) proposed a different and efficient compliance modeling theory for collaborative flexible-joint robots, on the basis of mechanical and electrical passive network synthesis to offer the systematic and theoretical guidance for the compliance design of the rotary flexible joint. (Zheng et al, 2022) proposed a decentralized controller to find a solution for the leaderless consensus issues with undirected network topology.…”

Section: Introductionmentioning

confidence: 99%

Robust cooperative multiple flexible-joint arms control using the q-Bernstein-Schurer operators as the uncertainty approximator: A singular perturbation approach

Izadbakhsh

Nazari

Talaei

2022

Journal of Vibration and Control

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The position-force tracking issue of an object being moved by collaborative Multiple Flexible-Joint arms, facing dynamic uncertainties, model nonlinearities, and unknown perturbations is studied in this paper. Toward this end, an adaptive control scheme applying the function approximation technique is suggested, enabling the object to track the reference trajectory. This capability arises from the universal approximation property of the FAT-based approaches. Herein, the q-Bernstein-Schurer operators are exploited to disturbances/uncertain dynamic approximations. Since the parameters of the system are not exactly recognized, adaptive rules are suggested for tuning the coefficients of the operator. The Lyapunov stability analysis guarantees uniformly ultimately bounded stability of all the error signals. Two Flexible-Joint manipulators transporting a rigid object are employed to validate the theoretical achievements. The state-of-the-art Chebyshev Neural Network approximator is also used to compare the suggested methodology. The outcomes exhibit the usefulness of the presented approach, handling the system even in the incidence of uncertainties and disturbances needless to the system’s state feedback for function approximation with a low computational burden.

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Adaptive passive admittance control of a compliant collaborative robot

Xu,

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Compliance of the collaborative robots plays an important role in human-robot interaction. Due to the complex nonlinearities caused by the compliance, and parameter uncertainties, good performance control method for the compliant collaborative robot is always a challenging task. Therefore, to overcome the challenge of the compliance, and uncertain dynamics, this paper develops an adaptive passive admittance control (APAC) approach for a novel compliant collaborative robot, whose compliant mechanism is constituted of the inerters, springs, and dampers. First, through force-current analogy between mechanical network and electrical network, the compliance of the proposed collaborative robot with the inerters, springs, and dampers, is represented by a novel and simplified admittance matrix to facilitate dynamics model of the proposed collaborative robot. Then, for the proposed compliant collaborative robot, an APAC strategy is presented to dispose of the uncertain parameters of the dynamics. The inertial matrix, Coriolis matrix, admittance matrix, and gravity vector of the compliant collaborative robot are expressed as linear representation of orthogonal basis functions by using function approximation technique (FAT). The boundedness of the robot dynamics is proved by detailed stability analysis which uses Lyapunov function. Finally, simulation results indicate that the proposed APAC of the compliant collaborative robot is effective.

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A compliance modeling method of flexible rotary joint for collaborative robot using passive network synthesis theory

Cited by 6 publications

References 35 publications

Cooperative multiple elastic‐joint arms control using the (p, q)‐analogue of Bernstein operators as the uncertainty approximator

Cooperative multiple elastic‐joint arms control using the (p, q)‐analogue of Bernstein operators as the uncertainty approximator

Robust cooperative multiple flexible-joint arms control using the q-Bernstein-Schurer operators as the uncertainty approximator: A singular perturbation approach

Adaptive passive admittance control of a compliant collaborative robot

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