DPSO and Inverse Jacobian-Based Real-Time Inverse Kinematics With Trajectory Tracking Using Integral SMC for Teleoperation

Abstract

A six-degree-of-freedom robotic manipulator inverse kinematics (IK) for position control is proposed for the bilateral teleoperation process that is implemented through a joystick for nuclear power plant dismantling operations. The control strategy of the manipulator includes the use of the joystick to generate the Cartesian space trajectory followed by the IK to yield the joint space trajectory for implementing position control. In this paper, a novel technique for the IK is proposed. It involves the use of the particle swarm optimization (PSO) algorithm with the inverse Jacobian (IJ). The special case of the dual PSO is based on dividing the PSO algorithm into two such that the trajectory position and orientation are separately optimized by the algorithms, resulting in a faster convergence. In contrast, the inverse Jacobian aids in generating a smooth joint trajectory. The integral sliding mode control (ISMC) is proposed for position control because it does not require information on system dynamics. The ISMC improves the system trajectory tracking performance by using a switching gain to compensate for system dynamics and perturbations (disturbance and unmatched uncertainties), ultimately reducing the time delay. The effectiveness of the PSO combined with the IJ and the robustness of the ISMC in the teleoperation process are confirmed by the experimental results. INDEX TERMS Teleoperation, inverse kinematics, robotic manipulator, PSO, inverse Jacobian, ISMC

Inverse Kinematics of Robot Manipulator Based on BODE-CS Algorithm

“…The inverse kinematics of the manipulator play an important role in robotic research.The desired trajectory can be transformed via inverse kinematics into the corresponding joint trajectories [5]. It is also the fundamental technology for solving many problems, such as trajectory tracking [6], object grasping [7], and dynamic analysis [8]. It allows for the joint variables associated with the required task to be determined.…”

DDPG-Based Adaptive Sliding Mode Control with Extended State Observer for Multibody Robot Systems

“…In this effort, different robust control algorithms have been proposed in which sliding mode control (SMC) has been of great interest due to outstanding robustness against parametric uncertainties and external disturbances [1,2]. Subsequent developments resulted in different types of SMC, including integral SMC (ISMC) [3], super twisting SMC (STSMC) [4], terminal SMC (TSMC) [5], SMC with a nonlinear disturbance observer known as sliding perturbation observer (SMC-SPO) [6], and SMC with extended state observer (SMCESO) [7]. This research is conducted for the robust control of multibody industrial robot systems with aims of enhancing the trajectory tracking results.…”

Control design for bilateral teleoperation system with actuator dead-zone and time-varying delays

“…Despite the fact that the foregoing methods can ensure both transient and steady state performances, the impact of time delays were not considered. The effects of constant time delays in teleoperation systems has been dealt with using nonlinear disturbance observer based control [16], [17], a bilateral impedance control [18], event-triggered adaptive bilateral control [19], output feedback synchronization control [20], fault-tolerant control [21], adaptive neural network control [22], an integral SMC optimized with particle swamp optimization [23], an adaptive NTSMC [24]. However, due to the uncertainties associated with teleoperation system, the time delays cannot be constant.…”