Dynamics model and adaptive backstepping control on the 7-DOF manipulators of a humanoid robot

Bai, Keqiang; Luo, Minzhou; Li, Tao; Jiang, Guanwu

doi:10.1109/icinfa.2016.7831971

Cited by 3 publications

(1 citation statement)

References 9 publications

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“…To solve this problem, control schemes that combine motion and force have been proposed. [21][22][23][24] Recently, important research has proposed a class of adaptive fuzzy tracking control for uncertain MIMO nonlinear dynamical systems, such as robotic manipulators. [24][25][26][27][28] Iterative learning control can provide high precision for the uncertainty of important equipment in various applications.…”

Section: Introductionmentioning

confidence: 99%

Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking

Bai

Jiang

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a fuzzy-approximation-based adaptive backstepping control method for dual-arm of a humanoid robot was proposed. The purpose of this control system is to provide coordinated movement assistance to enable the humanoid robot's human-like forearm to grab objects coordinately (or track any continuous desired trajectory), even in the presence of environmental disturbances and parametric uncertainties. We analyze the proposed adaptive backstepping by mathematical modeling and actually measure the robot dual-arm motion information of a number of case when they simulate the trajectory to verify the model. We design the adaptive fuzzy-approximation control strategy and combining the synthesis of the robust design, backstepping control, and Lyapunov function method, the proposed adaptive fuzzy backstepping control does not need to know the humanoid robot's arms model precisely. In the control system proposed here, once the desired trajectories of the robot's dual-arm positions are given, the adaptive fuzzy system was closed to any unknown functions and to the derivative of the virtual control law of the humanoid robot system. In this case, a robust design scheme was utilized to compensate for any approximation errors. With the proposed trajectory tracking, not only able to generate the coordinate motions for a humanoid robot's two arms, but it can also control the arms to move to the desired positions. The proposed closed-loop system under the adaptive fuzzy backstepping control design was effective and that asymptotic stability was successfully achieved. The adaptive fuzzy-approximation backstepping control strategy should be more complete and intelligent and more actual test should be conducted to further evaluate the effect of the proposed trajectory tracking. The instability of dual-arm of humanoid robot system is systematically analyzed and a backstepping control strategy based on the adaptive fuzzy-approximation to improve the continuity of trajectory tracking of the robot's arms is proposed.

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Section: Introductionmentioning

confidence: 99%

Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking

Bai

Jiang

et al. 2019

International Journal of Advanced Robotic Systems

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Theoretical studies of plain hinged linkage mechanisms movement in food processing robots-manipulators

Babenyshev

Bratsikhin

Mamay

et al. 2021

IOP Conf. Ser.: Mater. Sci. Eng.

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Significance of the studied problem is conducted due to the lack of simple and accessible engineering methods that allow predicting kinematic characteristics and selecting parameters of the main elements of modern robotic manipulators that include mechanisms of parallel structure in their design. The solution of such tasks allows determining the ranges of operational indicators of the designed technological equipment in advance, as well as to develop criteria for their analysis. An algorithm for applying the Lagrange II equations to determine the equations of plain hinged linkage mechanisms movement with four degrees of freedom is proposed.

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Tracking Fractional Power Rate sliding mode control for a 4DOF manipulator robot

Stihi,

Fareh,

Khadraoui

et al. 2023

2023 International Conference on Fractional Differentiation and Its Applications (ICFDA)

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Dynamics model and adaptive backstepping control on the 7-DOF manipulators of a humanoid robot

Cited by 3 publications

References 9 publications

Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking

Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking

Theoretical studies of plain hinged linkage mechanisms movement in food processing robots-manipulators

Tracking Fractional Power Rate sliding mode control for a 4DOF manipulator robot

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