Parameter estimator integrated-sliding mode control of dual arm robots

Tuấn, Lê Anh; Joo, Young Hoon; Duong, Pham Xuan; Tien, Le Quoc

doi:10.1007/s12555-017-0018-1

Cited by 17 publications

(9 citation statements)

References 17 publications

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“…24 Besides the fact that shaped system and locked system can be controlled separately, their dynamics in ( 17) and ( 18) are linear with respect to dynamic parameters of the system. Indeed, their estimated dynamic equations at the presence of dynamic uncertainties could be written in regressor form as in (19) and (20). hat signs state the estimated values for matrices and other parameters.…”

Section: Shaped and Locked Systemmentioning

confidence: 99%

“…Taking the interaction between the environment and the overall system into the consideration, Han 18 estimated the internal force with a momentum observer. Instead of employment of force sensor, Tuan 19 estimated the internal forces by measuring the acceleration of the object's center of mass. Thus, in most of the studies regarding cooperative manipulation, it is required to use tactile sensing or the object's states and their derivatives that could affect the performance of the controller in high frequencies and escalate the computational cost of the system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Maneuver and formation control of a pair of soft pneumatic bending fingers by a cooperative strategy for planar in-hand object manipulation

Alian

Zareinejad

Talebi

2022

Proceedings of the Institution of Mechanical Engineers, Part E:

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In this paper, we seek performing dynamic in-hand object manipulation with two-segmented soft fingers in 2-D plane. Thereby, after the dynamic behavior of the soft fingers was defined, we evaluate the influence of external tip force on the finger. It is shown that the tip position error, under the effect of tip force, can be represented by uncertainties in kinematic parameters of the finger. As a result, we design a sliding-adaptive controller with compensation of kinematic uncertainties to fulfill our expectation that is controlling the tip position of the finger in vertical plane while interacting with the environment. Finally, inspired by the way that human fingers manipulate an object, a cooperative control system for manipulation is proposed which incorporates the states and tip positions of the fingers in its feedback signal. Combination of this controller with the adaptive control system yields more promising results than does the PID controller. In order to evaluate performance of the proposed controller, Simulation results for manipulation of a cubic rigid object are demonstrated.

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Section: Shaped and Locked Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Maneuver and formation control of a pair of soft pneumatic bending fingers by a cooperative strategy for planar in-hand object manipulation

Alian

Zareinejad

Talebi

2022

Proceedings of the Institution of Mechanical Engineers, Part E:

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show abstract

“…In order to cope with model uncertainty, intelligent control such as fuzzy control [14], [15] neural network [16], reinforcement learning control [17] have been applied to dual arm robot system. In addition, modified sliding control [18], intelligent control in combination with sliding mode control [19], [20] also are proposed to control dual arm robot. Such types of control techniques are straightforward generalizations from the single to multiple manipulator case, since with the assumption of fixed grasps, dynamic model uncertainties affect the dynamic response of the controlled system in an analogous fashion in both single and multiple manipulator cases.…”

Section: Introductionmentioning

confidence: 99%

Fast terminal sliding mode control for dual arm manipulators

Chuyen

Nguyễn

2023

Bulletin EEI

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In this paper, present the recent advances in bimanual industrial manipulators have led to an increased interest in the specific problems pertaining to dual arm manipulation. This paper presents a control algorithm for dual arm robot that can move the object in a working plane both in translation and rotation ways. Different from other research that extend the control algorithms for a single robot to a dual arm robot because of fixed grasp assumption, this research has considered the frictional contact constraints to guarantee object grasping during moving of the object. Fast terminal sliding mode control (FTSMC) technique is used to design the controller and comparison to traditional and super-twisting sliding mode controls have been done. Simulations show the effectiveness and outperformance of the proposed control algorithm in comparison to considered sliding mode control techniques.

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“…[21] develop a sliding mode controller to investigate the performance of two coordinated planar arms in transporting a load to its new location with friction-assisted handling. In [22], the authors propose a sliding mode control combined with a parameter estimator for the robot system. The result show a practical approach since many parameters are not convenient to measure.…”

Section: Introductionmentioning

confidence: 99%

Super-twisting sliding mode based nonlinear control for planar dual arm robots

Nguyễn¹,

Vu²

2020

Bulletin EEI

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In this paper, a super-twisting algorithm sliding mode controller is proposed for a planar dual arm robot. The control strategy for the manipulator system can effectively counteract chattering phenomenon happened with conventional sliding mode approach. The modeling is implemented in order to provide the capability of maneuvering object in translational and rotational motions. The control is developed for a 2n-link robot and subsequently simulations is carried out for a 4-link system. Comparative numerical study shows that the designed controller performance with good tracking ability and smaller chattering compared with basic sliding mode controller.

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Parameter estimator integrated-sliding mode control of dual arm robots

Cited by 17 publications

References 17 publications

Maneuver and formation control of a pair of soft pneumatic bending fingers by a cooperative strategy for planar in-hand object manipulation

Maneuver and formation control of a pair of soft pneumatic bending fingers by a cooperative strategy for planar in-hand object manipulation

Fast terminal sliding mode control for dual arm manipulators

Super-twisting sliding mode based nonlinear control for planar dual arm robots

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