Adaptive task‐space cooperative tracking control for manipulators with a desired trajectory estimator and a velocity observer

Zhao, Jing; Xiu, Bingkai; Wang, Junzheng; Zhang, Xin

doi:10.1002/rnc.6017

Cited by 6 publications

(2 citation statements)

References 34 publications

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“…𝑇 . The equations for the robotic arm's forward motion can be determined using the D-H parametric technique, and if the rotation angle of the axis joint is known, it is possible to determine the position of the robotic arm end-effector with respect to the position of the coordinate system [17][18]. A kinematic model of the Six-DOFrobotic arm joint using the standard D-H parametric method is shown in Fig.…”

Section: Kinematic Analysis Of a Six-dof Modular Robotic Armmentioning

confidence: 99%

Six-DOF modular robotic arm bearing chatter suppression algorithm

Zheng,

Jin

2023

J. vibroeng.

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Robotic arms are frequently utilized in contemporary industrial production since they offer great qualities like high precision and low mass. How to minimize robotic arm tremors in order to maximize their control effect has emerged as one of the most critical issues to be resolved with the continued development of industrial intelligence. The study uses a combination of PID control and an artificial fish swarm technique to optimize the parameters and confirm the simulation control effect based on the kinematic analysis of a six-degree-of-freedom (Six-DOF) modular robotic arm. The findings demonstrated that the suggested fusion approach converges to zero in 80 iterations and has a recall of 0.893 and 0.785 at an accuracy of 0.8 and 0.9, respectively. The robotic arm control system’s average control effect is 42.96 %, which is a respectable control performance. In the second and third studies, the fusion approach stabilized actuator end tremor suppression after 0.01 s and 0.0001 s, respectively. It shows that the technique can effectively suppress robotic arm bearing tremor and has high flexibility for robotic arm tremor suppression, which offers trustworthy technological support for improving the motion control system of industrial robots.

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Section: Kinematic Analysis Of a Six-dof Modular Robotic Armmentioning

confidence: 99%

Six-DOF modular robotic arm bearing chatter suppression algorithm

Zheng,

Jin

2023

J. vibroeng.

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“…4,5 The model uncertainties are difficult to predict in advance and establish an accurate dynamic model, which brings some difficulties to the trajectory tracking of robotic manipulators. [6][7][8] Backlash hysteresis is widely found in robotic manipulators and other physical devices. When the passive joint of the manipulator moves in the opposite direction, the backlash hysteresis phenomenon will occur and the positioning accuracy and repeatability will be reduced.…”

Section: Introductionmentioning

confidence: 99%

Model-free adaptive control based on prescribed performance and time delay estimation for robotic manipulators subject to backlash hysteresis

Zhang

Fang

Song

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Aim to solve the problem of over-dependence on dynamics model and low tracking accuracy of robotic manipulators under uncertainties and backlash hysteresis, an adaptive continuous nonsingular fast terminal sliding mode controller combining time delay estimation (TDE) and prescribed performance control (PPC) is formulated. Firstly, TDE is applied to estimate the model information and external disturbances, so that the dynamics model of robotic manipulators is simplified into a local model. Then, an adaptive terminal sliding mode controller is established based on the local model and PPC, which solves the singularity problem of traditional terminal sliding mode and improves the transient and steady-state performance of robotic manipulators. Next, by combining the reaching law with the adaptive term, robotic manipulators achieve favorable tracking performance, fast convergence time, and chattering suppression under complex disturbances. And the Lyapunov theory is applied to prove that the robotic manipulators can reach the steady state in finite time. Meanwhile, a saturation compensator is formulated to settle actuator saturation and the compensator can converge within a finite time. Finally, the simulation is applied to verify the formulated control strategy can effectively improve the tracking performance and enhance the robustness against disturbances.

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Observer‐based fixed‐time task‐space cooperative tracking control of networked Lagrangian agents with quantized communication

Ding,

Zhang,

et al. 2024

Intl J Robust & Nonlinear

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In this article, the task‐space cooperative tracking control (TSCTC) problem of networked Lagrangian agents (NLAs) with quantized communication is investigated in fixed time, where every Lagrangian agent suffers from imprecise dynamics and external disturbances. A hierarchical observer‐based fixed‐time control (HOBFTC) algorithm is proposed, where there are four parts: a prescribed‐time input observer is proposed to recover the unknown input of the leader, a distributed estimator control is designed to force the estimated values to converge the states (position and velocity) of the leader, a fixed‐time disturbance observer is presented to recover the total disturbances of NLAs, and a nonsingular fixed‐time local control is given to guarantee that the task‐space cooperative tracking can be achieved. The salient features are twofold: (1) by employing the hierarchical control strategy, the proposed control algorithm is clearly structured to solve the complex cooperative tracking problem with multiple constraints including quantized communication, imprecise dynamics and external disturbances. (2) the convergence time of the proposed control algorithm can be set freely by selecting some parameters, which are independent of the initial conditions. Some sufficient conditions are obtained and some simulation examples are given to validate the effectiveness of the proposed algorithm.

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Adaptive task‐space cooperative tracking control for manipulators with a desired trajectory estimator and a velocity observer

Cited by 6 publications

References 34 publications

Six-DOF modular robotic arm bearing chatter suppression algorithm

Six-DOF modular robotic arm bearing chatter suppression algorithm

Model-free adaptive control based on prescribed performance and time delay estimation for robotic manipulators subject to backlash hysteresis

Observer‐based fixed‐time task‐space cooperative tracking control of networked Lagrangian agents with quantized communication

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