Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments

Namvar, Mehrzad; Aghili, Farhad

doi:10.1109/tro.2004.842346

Cited by 92 publications

(56 citation statements)

References 32 publications

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“…A considerable amount of work on multiple robotic systems has been performed during the last few decades [9][10][11][12][13][14][15]. Mostly, the position and/or force control of multiple manipulators handling a rigid object were studied in [9][10][11].…”

Section: Issues and Prior Researchmentioning

confidence: 99%

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Target Point Manipulation Inside a Deformable Object

Das¹,

Sarkar²

2012

Robotic Systems - Applications, Control and Programming

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Section: Issues and Prior Researchmentioning

confidence: 99%

“…Mostly, the position and/or force control of multiple manipulators handling a rigid object were studied in [9][10][11]. However, there were some works on handling deformable object by multiple manipulators presented in [12][13][14][15]…”

Section: Issues and Prior Researchmentioning

confidence: 99%

Target Point Manipulation Inside a Deformable Object

Das¹,

Sarkar²

2012

Robotic Systems - Applications, Control and Programming

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“…Nowadays, ignoring uncertainties to simplify control design may cause the large steady-state errors or/and poor transient response [5]. For the case of parametric uncertainties, adaptive control method has been presented in [6,7] to make robots adapt the changing control environment. In order to enhance system robustness on the uncertain parameters in the presence of external disturbances, sliding mode control [8,9] has been proposed to obtain the desired robotic tracking control performance.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Learning from Adaptive Neural Control of Uncertain Robots with Guaranteed Full-State Tracking Precision

Wang

Zhang

2017

Complexity

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A dynamic learning method is developed for an uncertain -link robot with unknown system dynamics, achieving predefined performance attributes on the link angular position and velocity tracking errors. For a known nonsingular initial robotic condition, performance functions and unconstrained transformation errors are employed to prevent the violation of the full-state tracking error constraints. By combining two independent Lyapunov functions and radial basis function (RBF) neural network (NN) approximator, a novel and simple adaptive neural control scheme is proposed for the dynamics of the unconstrained transformation errors, which guarantees uniformly ultimate boundedness of all the signals in the closed-loop system. In the steadystate control process, RBF NNs are verified to satisfy the partial persistent excitation (PE) condition. Subsequently, an appropriate state transformation is adopted to achieve the accurate convergence of neural weight estimates. The corresponding experienced knowledge on unknown robotic dynamics is stored in NNs with constant neural weight values. Using the stored knowledge, a static neural learning controller is developed to improve the full-state tracking performance. A comparative simulation study on a 2-link robot illustrates the effectiveness of the proposed scheme.

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“…Typical examples include: deburring, contour following, grinding, machining, painting, polishing and object aligning (Namvar and Aghili, 2005) or even robot dexterous hands (Caurin and Pedro, 2009). In this framework, a study of the differential kinematics and manipulability indexes for multiple cooperating robot arms with unactuated joints is presented in (Wen and Wilfinger, 1999;Bicchi and Prattichizzo, 2000).…”

Section: Introductionmentioning

confidence: 99%

Kinematic control of constrained robotic systems

Freitas

Leite

Lizarralde

2011

Sba Controle & Automação

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RESUMO Controle de Sistemas Robóticos com Restrições CinemáticasEste artigo considera o problema de controle de postura para sistemas robóticos com restrições cinemáti-cas. A ideia principal é considerar as restrições cinemáticas dos mecanismos a partir de suas equações estruturais, ao invés de usar explicitamente a equação de restrição. Um estudo de caso para robôs paralelos e robôs cooperativos é discutido baseado nos conceitos de cinemática direta, cinemática diferencial, singularidades e controle cinemático. Resultados de simulação, obtidos a partir de um mecanismo F our-Bar linkage, uma plataforma de Gough-Stewart planar e dois robôs cooperativos, ilustram a aplicabilidade e versatilidade da metodologia proposta.PALAVRAS-CHAVE: robôs paralelos, robôs redundantes, coordenação multi-rôbos, singularidades cinemáticas . ABSTRACTThis paper addresses the posture control problem for robotic systems subject to kinematic constraints. The key idea is to consider the kinematic constraints of the mechanisms from their structure equations, instead of explicitly using the constraint equations. A case study for parallel robots and cooperating redundant robots is discussed based on the following concepts: forward kinematics, differential kinematics, singularities and kinematic control. Simulations results, obtained with a Four-Bar linkage mechanism, a planar Gough-Stewart platform and two cooperating robots, illustrate the applicability and versatility of the proposed methodology.

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Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments

Cited by 92 publications

References 32 publications

Target Point Manipulation Inside a Deformable Object

Target Point Manipulation Inside a Deformable Object

Dynamic Learning from Adaptive Neural Control of Uncertain Robots with Guaranteed Full-State Tracking Precision

Kinematic control of constrained robotic systems

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