Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints

Sun, Wei; Yuan, Wenxing; Wu, Yuqiang

doi:10.1007/s11633-015-0934-6

Cited by 8 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The precise needed dynamic relationship between the arm motion and the external torque is satisfied here via impedancebased control [20][21][22][23][24][25], which enables the compliant control characteristics of the master manipulator. Additionally, it is integrated with a synovial film control [26][27][28][29] to increase the manipulator dynamics system's resistance to changes in outside disturbances.…”

Section: Synovial Mode Impedance Control Algorithmmentioning

confidence: 99%

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Zhong

Gong

2023

Preprint

View full text Add to dashboard Cite

The teleoperated rescue robot system has significant practical value and realistic significance in light of the complicated and hazardous environment following the seismic tragedy. In this study, a master-end manipulator system for teleoperation is conceived and built based on the self-created large-load seven-degree-of-freedom (7-DOFs) hydraulic robotic arm, to give users a simple and practical method of dragging control. First, the master manipulator of the hydraulic rescue robotic arm is designed as a homogeneous seven-axis linkage structure in accordance with the master hand design principle, and the corresponding degrees of freedom are configured in accordance with the configuration and performance index of the redundant degrees of freedom of the slave end hydraulic manipulator arm. Next, we construct the synovial mode impedance control method after analyzing the motion of the actual main-end manipulator arm. The feasibility of the synovial-mode impedance algorithm and the operability of the joystick functioning as the main end of the teleoperation system are next tested through testing. The results demonstrate that, in comparison to the general impedance control, the suggested main-end manipulator may ensure a better traction effect and decrease torque output errors, which in turn enhances operation accuracy.

show abstract

Section: Synovial Mode Impedance Control Algorithmmentioning

confidence: 99%

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Zhong

Gong

2023

Preprint

View full text Add to dashboard Cite

show abstract

Vibration Control Using Pole Placement with Proportional Gain of a Flexible Manipulator Incorporating Payload

Khairudin

2021

J Control Autom Electr Syst

View full text Add to dashboard Cite

Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator

et al. 2019

View full text Add to dashboard Cite

The planar three-link passive-active-active (PAA) under-actuated manipulator does not satisfy the small-time local controllability (STLC), which makes it more difficult to control than other planar under-actuated manipulators. This paper presents a two-stage switching hybrid control method based on improved particle swarm optimization (PSO) for the PAA under-actuated manipulator. According to the model reduction strategy, the control process is divided into two stages. The workspace of the manipulator is analyzed to guarantee the target position within the reachable region. In order to reduce the probability of falling into local optimum, we introduce the Metropolis criterion of simulated annealing algorithm and crowding factor of artificial fish swarm algorithm into PSO algorithm to calculate the target angles of two active joints. At each control stage, we design the Lyapunov function to maintain the angle of an active joint unchanged while we build the sliding surface and select the power function as reaching law to make the other active joint converge to the target angle. The control law switches to next stage when the rotated joint converges to the target angle. The proposed method not only retains the rapidity of sliding mode control, but also reduces the total chattering of the system by the Lyapunov function method. Simulation results demonstrate that the proposed method has shorter steady-state adjustment time than that of existing typical control methods, and its overshoot is almost zero. INDEX TERMS The planar three-link passive-active-active (PAA) under-actuated manipulator, the improved particle swarm optimization (PSO), hybrid control method, Lyapunov direct method, sliding mode control.

show abstract

Adaptive Tracking Control of Mobile Manipulators with Affine Constraints and Under-actuated Joints

Cited by 8 publications

References 15 publications

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Development of A master teleoperated manipulator for A hydraulic rescue robotic arm

Vibration Control Using Pole Placement with Proportional Gain of a Flexible Manipulator Incorporating Payload

Two-Stage Switching Hybrid Control Method Based on Improved PSO for Planar Three-Link Under-Actuated Manipulator

Contact Info

Product

Resources

About