Robust Impedance Control-based Lyapunov-Hamiltonian Approach for Constrained Robots

Abstract

A new design of a robust impedance controller for constrained robotic manipulators is presented. The main objective is to stabilize asymptotically, in the task space, the robotic manipulator's end effectors into a desired position, via a desired contact force under model uncertainties and measurement noise. In this work, the proposed approach is enough straightforward for application without force and position control separation. Robust asymptotic stability in the approach is proved using a HamiltonianLyapunov approach. Besides this, a state/parameter observer and an acceleration estimator are proposed to handle the problems of force estimation, disturbance rejection and acceleration measurement. To ensure high performance, a Particle Swarm Optimization (PSO) algorithm is used finally as an efficient and fast method for the offline fine-tuning of the controller's parameters. In designing the PSO method, the Mean of Root Squared Error (MRSE) is considered as a cost function in the Cartesian space. Finally, the example of the ABB-IRB 140 industrial robot with 6DOFs is used to validate the performances of the proposed approach.

Trajectory planning method of robot sorting system based on S-shaped acceleration/deceleration algorithm

“…where t acc and t dec are obtained by equation (8), and L can be obtained by equation (9). The calculation formula in this part contains only one unknown variable t con .…”

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

“…An alternative approach to deal with disturbances and uncertainties is the so-called "observer-based technique," 17 such as sliding mode observer (SMO)-based control, 18 disturbance observer-based control, 19 and extended state observer (ESO)-based control. 20 Recently, Sun et al 21 utilized SMO approach to estimate the decoupled disturbances and full system states of nonlinear systems and got satisfactory control performance.…”

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

“…Moreover, in the last two decades, impedance control of the rigid manipulators interacting with the environment has been widely reviewed that can be found in the scientific literature. [20][21][22][23][24][25][26][27][28][29] However, the robust impedance control of the flexible manipulator has been rarely addressed by the researcher. [30][31][32][33][34] In ref.…”