Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics

Wang, Hanlei; Xie, Yongchun

doi:10.1016/j.automatica.2009.05.011

Cited by 82 publications

(61 citation statements)

References 21 publications

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“…This function is the source of a joint desired position collections for the manipulators movement across the time. Then, using different control techniques: like the PD control with gravity compensation, IDC (Inverse Dynamic Control) or adaptive control, is possible accomplish a manipulator movement on the defined path with the minimal deviation (Marguitu, 2009, Spong, 1992, Wang, 2009). …”

Section: Differential Flatnessmentioning

confidence: 99%

Tracking Control in an Upper Arm Exoskeleton with Differential Flatness

Veslin¹,

Dutra²,

Slama³

et al. 2012

Robotic Systems - Applications, Control and Programming

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Section: Differential Flatnessmentioning

confidence: 99%

Tracking Control in an Upper Arm Exoskeleton with Differential Flatness

Veslin¹,

Dutra²,

Slama³

et al. 2012

Robotic Systems - Applications, Control and Programming

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“…Since and are not updated online, the invertibility of and is not a concern. More details about this can be found in [11], [13].…”

Section: Remarkmentioning

confidence: 99%

“…Adaptive inverse dynamics control of the position of a robot under dynamic uncertainties was investigated in [11]- [13]. However, the results in [11]- [13] have only been applied to motion control of a single robot in free motion.…”

Section: Introductionmentioning

confidence: 99%

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Inverse dynamics-based adaptive control of nonlinear bilateral teleoperation systems

Liu

Tavakoli

2011

2011 IEEE International Conference on Robotics and Automation

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Abstract-Inverse dynamics controllers deal with nonlinear terms in the robot dynamics in a way that, in the ideal case, the closed-loop system becomes linear and decoupled. Consequently, the performance of the closed-loop systems will be easy to study. Due to such an advantage, inverse dynamics-based adaptive control has been applied to motion control of an uncertain robot in free motion in the literature. However, so far there has been no attempt at simultaneous motion and force control in a master-slave haptic teleoperation system using an adaptive inverse dynamics approach. In this paper, for multi-degree-of-freedom teleoperation systems with nonlinear and uncertain dynamics, adaptive inverse dynamics controllers are incorporated into Lawrence's 4-channel bilateral teleoperation control framework. The resulting high-fidelity control system does not need exact knowledge of the dynamics of the master or the slave. A Lyapunov function is presented to analyze the transparency of the teleoperation system. A simulation study is included to demonstrate the effectiveness of the proposed control method.

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“…All the researches focus on single robot manipulator. In [25], a distributed task-space controller is designed considering dynamic and kinematic uncertainties, but the desired trajectory is constant. When the desired trajectory is time-varying, controllers are designed in [26] and [27], the tracking errors are proved to asymptotically converge to zero.…”

Section: Introductionmentioning

confidence: 99%

Distributed Task-space Tracking for Multiple Manipulators with Uncertain Dynamics and Kinematics

Xu¹,

Li²,

Chen³

2016

Open Autom. Control Syst. J.

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This paper studies the task-space tracking problem for networked robot manipulators, while the dynamic and kinematic parameters of each manipulator are unknown. A velocity observer is first developed to estimate the task-space velocity, and reference sufficient conditions for observer parameters are also given to guarantee the convergence of observation error. Based on the proposed observer, an adaptive controller is first developed when the task-space velocity is measurable, then a modified controller is proposed considering the case when the task-space velocity is unavailable. Using graph theory and Lyapunov analysis, the proof of the system stability is given. Simulations are provided to demonstrate the effectiveness of the proposed control method.

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Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics

Cited by 82 publications

References 21 publications

Tracking Control in an Upper Arm Exoskeleton with Differential Flatness

Tracking Control in an Upper Arm Exoskeleton with Differential Flatness

Inverse dynamics-based adaptive control of nonlinear bilateral teleoperation systems

Distributed Task-space Tracking for Multiple Manipulators with Uncertain Dynamics and Kinematics

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