Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Abbas, Mohamed; Dwivedy, Santosha K.

doi:10.1017/s0263574721001478

Cited by 10 publications

(5 citation statements)

References 52 publications

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“…Actuator dynamics: It is possible to combine the robot and actuators' dynamics as presented in [51,56,57]. In this way, a model can be obtained which can be utilized for low-level control.…”

Section: Modification Of Robot Dynamical Modelmentioning

confidence: 99%

“…This allows for the elimination of terms involving wrenches from Equations ( 1) and (8), resulting in the augmented model of the entire system. Many studies have adopted this method, as seen in works like [57,83,84,86,90,91,93,96,97,123]. Moreover, it is shown that the augmented model has properties No.…”

Section: Robots and Payload-augmented Modelmentioning

confidence: 99%

“…Equation ( 40) is not the only format that has been selected for adaptation algorithms. The authors of the works in [57,79] used the regressor format in Property 3. It is assumed that there is uncertainty in the dynamic parameters, i.e., θ i in Equation (2).…”

Section: Adaptive Controlmentioning

confidence: 99%

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Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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Robot manipulators possess the capability to autonomously execute complex sequences of actions. Their proficiency in handling challenging and hazardous tasks has led to their widespread adoption across diverse sectors, including industry, business, household appliances, rehabilitation, and many more. However, certain tasks prove to be challenging for individual robots, primarily due to constraints in their structure and limited degrees of freedom. Cooperative robot manipulators (CRMs) emerge as a compelling solution when dealing with large, heavy, or flexible payloads. The utilization of CRMs offers a host of benefits, including enhanced manipulation performance achieved through the synergy of sensing and actuation capabilities or by tapping into increased redundancy. Numerous techniques have been devised for the control and dynamical modeling of CRMs. Nevertheless, the field continues to present technical challenges and scientific inquiries. To inspire and facilitate further research and development in this realm, this review aims to consolidate the current body of knowledge pertaining to CRMs kinematics, dynamics modeling, and various control methodologies used for payload manipulation via CRMs.

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Section: Modification Of Robot Dynamical Modelmentioning

confidence: 99%

Section: Robots and Payload-augmented Modelmentioning

confidence: 99%

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Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Ghorbanpour

2023

Dynamics

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“…Controlling dual-arm manipulators is an interesting topic, which can be classified into low-level control and high-level planning, wherein addressing the low-level control for DARs remains an important focus. Unlike the recent works [1][2][3], this paper deals with the tracking and fault-tolerant control of DARs considering nonlinear viscosity and viscoelastic friction in their joints.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Tuan,

2024

Robotica

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Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using integral fast terminal sliding mode control and fractional calculus, we develop two robust controllers for robots subject to motor faults, parametric uncertainties, and disturbances. Their merits rest with their strong robustness, speedy finite-time convergence, shortened reaching phase, and flexible selection of derivative orders. To avoid the need for full knowledge of faults, robot parameters, and disturbances, two versions of the proposed approach, namely adaptive integral fractional-order fast terminal sliding mode control, are developed. Here, an adaptation mechanism is equipped for estimating a common representative of individual uncertainties. Simulation and experiment are provided along with an extensive comparison with existing approaches. The results demonstrate the superiority of the proposed control technique. The robot performs well the tasks with better responses (e.g., with settling time reduced by at least 16%).

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“…According to the literature, hybrid position/force control (Abbas and Dwivedy, 2021; Baigzadehnoe et al, 2017; Yang et al, 2022) and impedance/admittance control have been extensively devoted to maintain a safe grasp without the development of high interaction forces during the cooperative manipulation tasks. In the hybrid position/force control, a continuous switch between the position and force modes is required during the changes of contact and non-contact cases.…”

Section: Introductionmentioning

confidence: 99%

Event-triggered adaptive backstepping admittance control for cooperative manipulation

Abbas

Dwivedy

2022

Transactions of the Institute of Measurement and Control

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This paper proposes an adaptive control strategy for multiple uncertain manipulators handling an object cooperatively in the presence of environmental forces and limited communication. To address the same, external and internal admittance models are imposed between the object/environment and manipulators/object to limit the excess interaction and internal forces. Thereafter, an adaptive backstepping approach is dedicated to follow the admittance-generated trajectory and deal with the dynamic uncertainties of the manipulators. Based on the Lyapunov analysis, an event-triggered (ET) mechanism is further designed to alleviate the controller-to-robot communication burden and preserve the system stability in the cooperative task. The performance of the proposed controller is compared with two admittance-based control strategies while manipulating the object through circular and lemniscate trajectories. The well-known triggering conditions, fixed and relative thresholds, are utilized further to investigate the effectiveness of the designed triggering condition. The obtained results prove the superiority of the proposed controller over the different time-triggered and even-triggered control strategies.

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Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Cited by 10 publications

References 52 publications

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Event-triggered adaptive backstepping admittance control for cooperative manipulation

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