Hybrid position–force control for constrained reconfigurable manipulators based on adaptive neural network

Li, Yuanchun; Wang, Guogang; Dong, Bo; Zhao, Bo

doi:10.1177/1687814015602409

Cited by 13 publications

(5 citation statements)

References 27 publications

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“…However, the aforementioned strategies all require the accurate system model of manipulators which is difficult to be obtained since the nonlinear, coupling and time-varying of the manipulators. To reduce the dependence on the accuracy of system model, fuzzy control [12][13][14], neural network (NN) methods [15][16][17][18], adaptive control [19][20][21][22], etc, and the combination of those methods [23][24][25] are integrated with the force/position control to enhance the robustness against model uncertainties. By using singular perturbation approach, a hierarchical fuzzy logic controller is designed for hybrid force/position control of a flexible robot arm [12].…”

Section: Introductionmentioning

confidence: 99%

Iterative Learning Control Based on Sliding Mode Technique for Hybrid Force/Position Control of Robot Manipulators

Zhang

Ding

et al. 2021

Preprint

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In this paper, an iterative learning control (ILC) method based on sliding mode technique is proposed for hybrid force/position control of robot manipulators. Different from traditional ILC, the main purpose of the proposed ILC is to learn the dynamic parameters rather than the control signals. The sliding mode technique is applied to enhance the robustness of the proposed ILC method against external disturbances and noise. The switching gain of the sliding mode term is time-varying and learned by ILC such that the chattering is suppressed effectively compared to traditional sliding mode control (SMC). Simulation studies are performed on a two degrees of freedom planar parallel manipulator. Simulation results demonstrate that the proposed method can achieve higher force/position tracking performance than the traditional SMC and ILC.

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Section: Introductionmentioning

confidence: 99%

Iterative Learning Control Based on Sliding Mode Technique for Hybrid Force/Position Control of Robot Manipulators

Zhang

Ding

et al. 2021

Preprint

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“…The main aim of the dual-arm coordination control includes robot multi-joint linkage control, which focuses on improving work efficiency, robot manipulator autonomous location control, which focus on improving work intelligence and dynamic distribution control of internal forces in a dual-arm closed chain, which focus on improving work reliability. Such as Garcia-Valdovinos et al (2015) proposed a force control method for the dual-arm coordination in the master-slave mode, Zhang et al (2013) proposed a master-slave position-force control method and it is used to realize the task of the dual-mechanical arm coordinated control for objects transfer, Li et al (2015) proposed a master-slave position control and it is used for the coordinated motion control of double industrial robots to pick up the same objects, Lochan et al (2018) applied the master-slave position compensation control method to double industrial robots so as to completing the coordination operation of bolts and nuts tightening, Kesner and Howe (2014) proposed a master-slave position-force compensation control method based on genetic algorithm for dual-arm coordination robots and Liu et al (2016) proposed a dual-arm coordinated control strategy combined with a master-slave control method and symmetry control method and performed collision judgment and obstacle avoidance control by detecting the motion path of dual robots. In addition, for the dual-arm coordination operation, the arms need to be output at the same time.…”

Section: Introductionmentioning

confidence: 99%

Research on mechanism configuration and coordinated control for power distribution network live working robot

Jiang

Zou

et al. 2020

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Purpose In the long-term network operation, the power distribution network will be subjected to the effects of ultra-high voltage, strong electromagnetic interference and harsh natural environment on the power system, which will lead to the occurrence of different faults in the distribution network and directly affect the normal operation of the power grid. Design/methodology/approach The purpose of this study is to solve the problems of labor intensity, high risk and low efficiency of distribution network manual maintenance operation, this paper proposed a new configuration of the live working robot for distribution network maintenance, the robot is equipped with dual working arms through the mobile platform, which can realize the coordination movement, the autonomous reorganization and replacement of the end tools, respectively, so as the robot power distribution maintenance function such as stripping, trimming, wiring and the operation control problem of the distribution network-robot with small arms and in small operation space can be realized. Findings To effective elimination or reduce the adverse effects of the internal forces in the closed chain between the working object and manipulator under the typical task of the 10 kV distribution network, this paper has established the robot coordinated control dynamics model in the closed-chain between the dual-working object and proposed the dynamic distribution method of closed-chain internal force and the effectiveness has been proved by simulation experiments and 10 kV field operation. Originality/value The force-position hybrid control can realize the mutual compensation of force and position so as to effectively reduce the internal force in the closed chain. Finally, the engineering practicality of the method is verified by field operation experiment, the effective implementation of this control method greatly improves the robot working efficiency and the operation reliability, the promotion and application of the control method have great theoretical and practical value and maintenance management system, so as to achieve automation of electric.

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“…The master arm adopts position control and the force control of the slave arm is used to track the motion trajectory of the master arm; the force sensor installed on the slave arm joint is also used to detect the interaction force between the arms. Li et al (2015) proposed a master-slave position control and it is used for the coordinated motion control of double industrial robots to pick up the same objects. According to the pre-planned master arm motion trajectory, the slave arm realized a coordinated tracking of the master arm motion and avoided communication delays; additionally, a position prediction was designed on the slave arm to predict the cumulative error of the slave arm motion compensation.…”

Section: Introductionmentioning

confidence: 99%

Research on dual-arm coordination motion control strategy for power cable mobile robot

Jiang

Liu

et al. 2019

Transactions of the Institute of Measurement and Control

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Regarding the typical operation tasks in high-voltage transmission line environment, in order to effectively eliminate or reduce the disadvantageous effects on the robot operation reliability caused by the close chain internal forces. According to the motion status of manipulator operation, the dual-arm coordination control of the mobile operation robot can be divided into three different modes, which are dual-arm independent operation mode, dual-arm fully constrained mode and dual-arm partially constrained mode. The dynamic model between dual-arm and operation objects for the three different models are established, respectively. The manipulator position and force are set as the control targets, a unified dual-arm coordination controller is designed for the three operation modes. Through the mutual compensation of force error and position error, the close chain internal force can be dynamically allocated in each joints, so that the robot joints force can be balanced during the operation, and the internal force in the close chain can be minimized during the operation process so as to ensure the operation reliability and safety. Finally, the validity and engineering practicability is verified by MATLAB simulation experiment and 220 kV living damper replacement and drainage plate bolt tightening operation experiment, respectively.

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Hybrid position–force control for constrained reconfigurable manipulators based on adaptive neural network

Cited by 13 publications

References 27 publications

Iterative Learning Control Based on Sliding Mode Technique for Hybrid Force/Position Control of Robot Manipulators

Iterative Learning Control Based on Sliding Mode Technique for Hybrid Force/Position Control of Robot Manipulators

Research on mechanism configuration and coordinated control for power distribution network live working robot

Research on dual-arm coordination motion control strategy for power cable mobile robot

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