Cooperation of robot manipulators with motion constraint by real-time RNN-based finite-time fault-tolerant control

Hwang, Chih-Lyang

doi:10.1016/j.neucom.2023.126694

Cited by 3 publications

(2 citation statements)

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“…Actuator saturation: The input to the robot dynamics, as presented in Equation (1), is devoid of any constraints. To incorporate saturation into the controller design, T i can be substituted with the subsequent equation, where T max is the maximum wrench of the joint [58][59][60]:…”

Section: Modification Of Robot Dynamical 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: Modification Of Robot Dynamical Modelmentioning

confidence: 99%