Synchronization of multi-robot manipulators based on high order sliding mode control

Fathallah, Marwa; Abdelhedi, Fatma; Derbel, Nabil

doi:10.1109/sm2c.2017.8071835

Cited by 4 publications

(2 citation statements)

References 21 publications

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“…control and robustness of sliding mode control is used [5]. Synchronization control of multiple robot manipulators is presented using high-order Sliding Mode Control (SMC), which is associated with the cross-coupling [6]. One researcher uses force control technology to describe the position and force control of a novel two-finger gripper.…”

Section: Introductionmentioning

confidence: 99%

Master-Slave Synchronization of Robotic Arm using PID Controller

Htun

Hlaing

Hla

2023

IJEEI

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This paper analyzes the position control of a master-slave synchronization robotic arm driven by a D.C. motor using a PID (Proportional, Integral, and Derivative) controller with software and hardware design. This controller works to achieve the exact desired position simultaneously for the master and slave robot arm with minimal defects. The transfer function of the D.C. motor for the robotic arms used in this research is calculated with black box modelling. MATLAB Simulink block is used to test the software result. The MATLAB built-in auto-tuning method obtains Kp, Ki and Kd gain. These gains are adjusted with manual tuning to get precise angular positions for two robotic arms. This research uses Arduino Uno to act as a controller in the experiment. First, the position control of one robotic arm is tested with the same PID gain in MATLAB Simulink at different input degrees. Then, the hardware experiment of position control in one robotic arm is operated with only one PID gain at various reference degrees. Finally, the I2C communication protocol connects the master and slave robot arms. The main work that the PID controller hardware experiment with controls different level angular positions of two robotic arms.

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Section: Introductionmentioning

confidence: 99%

Master-Slave Synchronization of Robotic Arm using PID Controller

Htun

Hlaing

Hla

2023

IJEEI

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“…There are some interesting approaches for synchronizing fixed-base manipulators, for example, synchronization control based on output differential flatness [2]; in [3], the robustness of the sliding mode technique is considered; in [4], a system under parametric uncertainties is considered; in [5], the authors deal with dynamical uncertainties; and in [6], the problem of obstacle avoidance is solved. More recently, sophisticated controllers have been considered, see, for instance, [7], where a non-linear model predictive control is used for the synchronization problem at position and force levels.…”

Section: Introductionmentioning

confidence: 99%

Synchronization Control for a Mobile Manipulator Robot (MMR) System: A First Approach Using Trajectory Tracking Master–Slave Configuration

Pérez-Fuentevilla,

Morales-Díaz,

Rodríguez-Ángeles

2023

Machines

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In cooperative tasks, the ability to keep a kinematic relationship between the robots involved is essential. The main goal in this work is to design a synchronization control law for mobile manipulator robots (MMRs) considering a (2,0) differential mobile platform, which possesses a non-holonomic motion constraint. To fulfill this purpose, a generalized trajectory tracking control law based on the computed torque technique, for an MMR with n degrees of freedom, is presented. Using Lyapunov stability theory, it is shown that the closed loop system is semiglobal and uniformly ultimately boundedness (UUB) stable. To add position-level static coupling terms to achieve synchronization on a group of MMRs, the control law designed for the trajectory tracking problem is extended. Both experimental and numerical simulation results are presented to show the designed controllers performance. A successful experimental validation for the trajectory tracking problem using an 8 degrees of freedom (DoF) robot model (KUKA youBot) is depicted. Finally, numerical simulations in the CoppeliaSim environment are shown, which are used to test the synchronization control law made on the hypothetical scenario, where a two robot system has to manipulate an object over a parametric trajectory.

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A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation

Phukan

Mahanta

2020

Int. J. Autom. Comput.

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Synchronization of multi-robot manipulators based on high order sliding mode control

Cited by 4 publications

References 21 publications

Master-Slave Synchronization of Robotic Arm using PID Controller

Master-Slave Synchronization of Robotic Arm using PID Controller

Synchronization Control for a Mobile Manipulator Robot (MMR) System: A First Approach Using Trajectory Tracking Master–Slave Configuration

A Position Synchronization Controller for Co-ordinated Links (COOL) Dual Robot Arm Based on Integral Sliding Mode: Design and Experimental Validation

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