Model-based force/position control of cooperative manipulation systems

AzizZadeh, Hamid; Menhaj, Mohammad Bagher; Talebi, Heidar Ali

doi:10.1080/00051144.2019.1580853

Cited by 9 publications

(7 citation statements)

References 17 publications

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“…In Equations (10)- (17), S pi is the cross product matrix replacing of p oi ×, and it is well-known that S pi is a skew-symmetric matrix.…”

Section: Cooperative Dynamicsmentioning

confidence: 99%

“…A centralized force/position control in task space is presented by us for cooperative manipulator systems [17]. The contribution of this paper is designing a decentralized control using a physically consistent and compact model of interaction dynamics by applying Gauss' principle of the least constraint [18] to the common object and the apparent end-effector (EE) dynamics.…”

Section: Introductionmentioning

confidence: 99%

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Decentralized force and motion control of multiple cooperative manipulators

2021

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Decentralized force and motion control of a heavy object with lathing tools, in a cooperative multiple manipulator system is studied in this paper. Interaction of the object with robot manipulators and the environment and interaction of manipulators with each other that produce internal forces in the object are complexities in the system dynamics of cooperative manipulation tasks. In this paper, impedance behaviour between manipulator end-effectors (EE) and the object is developed to achieve springy links that lead to impedance effect between the object and the environment. Then, by focusing on the interaction effects in the system as well as the role of imposed kinematics and force constraints, each manipulator will have its own controller for coordination tasks, environment force regulation and internal forces minimization, without force/torque sensors in the EE. The relevance of the theoretical findings is illustrated using simulation results involving three robots manipulating a common object.

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“…In Equations (10)- (17), S pi is the cross product matrix replacing of p oi ×, and it is well-known that S pi is a skew-symmetric matrix.…”

Section: Cooperative Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Decentralized force and motion control of multiple cooperative manipulators

2021

Self Cite

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“…Because of their importance, several model-based control methodologies have arisen for these robots. 6,8 A second-order disturbance torque observation algorithm has been built for the cooperative elastic joint robots, while the Feedforward optimization factor is enounced to increase the detection precision and the real-time functioning. A new flat torsional spring with corrugated flexible units has been proposed for a few elastic actuators.…”

Section: Introductionmentioning

confidence: 99%

“…Painting, assembling, packing, welding, and handling, for instance, all need the engagement of various robot arms with dexterity and high precision. Because of their importance, several model‐based control methodologies have arisen for these robots 6,8 . A second‐order disturbance torque observation algorithm has been built for the cooperative elastic joint robots, while the Feedforward optimization factor is enounced to increase the detection precision and the real‐time functioning.…”

Section: Introductionmentioning

confidence: 99%

Cooperative multiple elastic‐joint arms control using the (p, q)‐analogue of Bernstein operators as the uncertainty approximator

Bayat

Izadbakhsh

2023

Intl J Robust & Nonlinear

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This paper presents the position-force tracking control problem of cooperative multiple elastic-joint robotic arms, encountering model nonlinearities, unknown perturbations, and dynamic uncertainties. To this mean, an adaptive function approximation technique (FAT) is proposed, authorizing the reference trajectory to be tracked by the object. This potential originates from the universal approximation feature of the FAT-based methodologies. The (p, q)-analogue of the Bernstein operators is utilized for this purpose. Since the systems' parameters are not precisely known, adaptive laws are employed for adjusting the uncertainty coefficients. The Lyapunov stability theorem assures that all signals in the error space remain uniformly ultimately bounded (UUB). In the end, two elastic-joint arms carrying a rigid object are utilized for validation of the theoretical outcomes. The suggested strategy is also compared to the Chebyshev neural network (CNN). The results show the benefit of the existing method, managing the system even in the presence of disturbances and uncertainties with lower tuning parameters compared with CNN.

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“…The importance of these systems has led to the emergence of various control methods for them. One of the usual strategies of controlling cooperative robots is the model-based approach [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

An observer-based output tracking controller for electrically driven cooperative multiple manipulators with adaptive Bernstein-type approximator

Izadbakhsh

2021

Robotica

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Thisarticle presents an observer-based output tracking control method for electrically actuated cooperative multiple manipulators using Bernstein-type operators as a universal approximator. This efficient mathematical tool represents lumped uncertainty, including external perturbations and unmodeled dynamics. Then, adaptive laws are derived through the stability analysis to tune the polynomial coefficients. It is confirmed that all the position and force tracking errors are uniformly ultimately bounded using the Lyapunov stability theorem. The theoretical achievements are validated by applying the proposed observer-based controller to a cooperative robotic system comprised of two manipulators transporting a rigid object. The outcomes of the introduced method are also compared to RBFNN, which is a powerful state-of-the-art approximator. The results demonstrate the efficacy of the introduced adaptive control approach in controlling the system even in the presence of disturbances and uncertainties.

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Model-based force/position control of cooperative manipulation systems

Cited by 9 publications

References 17 publications

Decentralized force and motion control of multiple cooperative manipulators

Decentralized force and motion control of multiple cooperative manipulators

Cooperative multiple elastic‐joint arms control using the (p, q)‐analogue of Bernstein operators as the uncertainty approximator

An observer-based output tracking controller for electrically driven cooperative multiple manipulators with adaptive Bernstein-type approximator

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