Adaptive robust synchronized control for cooperative robotic manipulators with uncertain base coordinate system

Zhai, Anbang; Wang, Jin; Zhang, Haiyun; Lu, Guodong; Li, Howard

doi:10.1016/j.isatra.2021.07.036

Cited by 22 publications

(8 citation statements)

References 33 publications

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“…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%

“…This can be performed by utilizing the load distribution matrix in Equation (22). In the process of substituting the motion-inducing portion of the net wrench, the generalized format of the Equation ( 22) for all robots can be used instead of Equation (31) [86,90,91].…”

Section: Robots and Payload-augmented Modelmentioning

confidence: 99%

“…These methods are rooted in establishing a dynamic equation for a specific parameter, which is dynamically adjusted based on the system's states, typically encompassing the error between the actual or estimated values and the desired values. Most of the studies in the field of CRMs are based on considering the parameter H in Equation ( 40) encompassing uncertainties and trying to estimate H so the state-space representation can be solved [21,52,55,56,58,59,74,86,124]. To estimate this parameter, the universal approximation is used.…”

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: Robots and Payload-augmented Modelmentioning

confidence: 99%

Section: Robots and Payload-augmented Modelmentioning

confidence: 99%

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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“…However, the control issues reflected in the dual-arm system seem more complicated than a single manipulator, whether it is the position control or the force control. The control problems have been well addressed in the springer handbook of robotics (Caccavale and Uchiyama, 2016), such as the master/slave control scheme (Luh and Zheng, 1987; Jiao et al, 2022), the position/force hybrid control scheme (Uchiyama and Dauchez, 1988), the feedback linearization control scheme (Ping, 1992), the impedance control scheme (Bonitz and Hsia, 1996a; Caccavale et al, 2008), and the synchronization control scheme (Dong and Mills, 2002; Rodriguez-Angeles and Nijmeijer, 2004; Zhai et al, 2021). However, the addressed problem in this paper will be focusing on the modifications of the dual-loop impedance control scheme, which has been widely used in the existing papers(Caccavale et al, 2008; Heck et al, 2013; Ren et al, 2016; He et al, 2016; Jinjun et al, 2019; Hu and Cao, 2022; Song et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

An adaptive impedance control for dual-arm manipulators incorporated with the virtual decomposition control

Xin

Roveda

et al. 2023

Journal of Vibration and Control

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The interaction force control problem for the object manipulated by the dual-arm manipulator with the unknown environment is addressed in this paper. An adaptive dual-loop impedance control scheme is designed to meet the three control targets, including the trajectory tracking control of the object, the internal force control of the object with the two arms, and the interaction force control of the object with the unknown environment. Firstly, an adaptive variable impedance control method is proposed in the outer loop to copy with the unknown stiffness and position of the environment. Secondly, an impedance control scheme based on the internal force is designed in the inner loop to plan the internal force and the modified position supplied with the outer-loop control. Thirdly, to realize the reference trajectory supplied with the inner-loop control, the virtual decomposition control (VDC) method is incorporated, which is a recursive adaptive control progress, so that the unknown dynamics of the manipulators is acceptable and the computation complexity is also very low to satisfy the real-time control requirement. The stability verifications of the inner-loop impedance control and the VDC method are given based on the Lyapunov method, and the stability analysis of the outer-loop impedance control is obtained using the Routh criterion. Finally, a plane dual-arm robotic manipulator with three degrees of freedom is used to verify the effectiveness of the proposed control scheme.

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“…However, intelligent control has great advantages in weakening the chattering and improving the robustness. In the research on position synchronization of manipulators, Zhai et al [21] designed a neural network controller based on sliding mode control to estimate the uncertainty of the system online, which was able to significantly reduce the chattering. Shi et al [22] combined fuzzy control with sliding mode control to design an adaptive fuzzy sliding mode controller for synchronous control of a spatial three-motor vibration system, and this control method reduced jitter and improved robustness.…”

Section: Introductionmentioning

confidence: 99%

Controlled synchronization of a vibrating screen driven by two motors based on improved sliding mode controlling method

Jia,

Wang,

Pan

et al. 2023

PLoS ONE

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With a requirement of miniaturization in modern vibrating screens, the vibration synchronization method can no longer meet the process demand, so the controlled synchronization method is introduced in the vibrating screen to achieve zero phase error state and realize the purpose of increasing the amplitude. In this article, the controlled synchronization of a vibrating screen driven by two motors based on improved sliding mode controlling method is investigated. Firstly, according to the theory of mechanical dynamics, the motion state of the vibrating screen is simplified as the electromechanical coupling dynamical model of a vibrating system driven by two inductor motors. And then the synchronization conditions and stability criterion of the vibrating system are derived and numerically analyzed. Based on a master-slave controlling strategy, the controllers of two motors are respectively designed with Super-Twisting sliding mode control (ST-SMC) and backstepping second-order complementary sliding mode control (BSOCSMC), while the uncertainty is estimated by an adaptive radial basis function neural network (ARBFNN). In addition, Lyapunov stability analysis is performed on the two controllers to prove their stability theoretically. Finally, simulation analysis is conducted based on the dynamics model in this paper.

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Adaptive robust synchronized control for cooperative robotic manipulators with uncertain base coordinate system

Cited by 22 publications

References 33 publications

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

Cooperative Robot Manipulators Dynamical Modeling and Control: An Overview

An adaptive impedance control for dual-arm manipulators incorporated with the virtual decomposition control

Controlled synchronization of a vibrating screen driven by two motors based on improved sliding mode controlling method

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