Dynamic Modularity Approach to Adaptive Control of Robotic Systems With Closed Architecture

Wang, Hanlei; Ren, Wei; Cheah, Chien Chern; Xie, Yongchun; Lyu, Shangke

doi:10.1109/tac.2019.2922450

Cited by 37 publications

(64 citation statements)

References 36 publications

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“…Finally, adaptive Jacobian control schemes based on task-space sensory feedback have been discussed in section "Adaptive Control with Task-Space Sensory Feedback. The literature on adaptive control of robots is vast, and more references can be found in Craig (1986) and Ortega and Spong (1989) for the pioneer works and in Wang (2017) and Wang et al (2019) for the later development. Other good references for adaptive control can also be found in Lewis et al (1993) and Chung et al (2008).…”

Section: Discussionmentioning

confidence: 99%

Adaptive Control

Cheah¹,

Ta²

2020

Encyclopedia of Robotics

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An adaptive control system is a system with a controller being able to adapt to uncertainty or variation of the plant parameters by using measured signals to improve its performance. approach to control the robot systems by adjusting the estimated parameters based on feedback information. The robot may not be able to properly perform the task initially, but by utilizing feedback information of the errors, the estimated parameters of the control system are updated online to reduce the errors eventually. An illustration of a typical adaptive control system for robots is shown in Fig. 1.

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Section: Discussionmentioning

confidence: 99%

Adaptive Control

Cheah¹,

Ta²

2020

Encyclopedia of Robotics

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“…where Δϕ k � ϕ k − ϕ k is the estimation error of kinematic parameter. Substituting (9) and (10) into (1), the equations of dynamics can be expressed as…”

Section: Control Design Of Robot Manipulators With Unknownmentioning

confidence: 99%

“…Control of robot manipulators has attracted a great deal of attentions in the past few decades, due to its wide application in industrial manufacturing [1], military [2], medical [3], and other fields [4]. Some promising results studying robot manipulators have been reported in [5][6][7][8][9][10][11][12][13][14]. In [5], an adaptive strategy was developed for visual tracking problem of robot manipulators based on the image-based look-andmove structure, without using image velocity measurements.…”

Section: Introductionmentioning

confidence: 99%

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

et al. 2020

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In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.

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“…For the user to implement innovative control schemes it is necessary to have an open control architecture, which for industrial robots can usually be achieved by replacing the manufacturer's controller either with a higher (more expensive) option provided by the same company or by a "homemade" control device. This may allow the implementation of force controllers designed by the user, with external sensors and algorithms built at a high level [3]. This paper introduces a proposal to avoid changing the control module provided by the manufacturer just by cleverly choosing the desired position trajectory which includes a force control term.…”

Section: Introductionmentioning

confidence: 99%

A Force/Motion Control Approach Based on Trajectory Planning for Industrial Robots With Closed Control Architecture

Gutiérrez–Giles

Evangelista-Hernandez

Arteaga

et al. 2021

IEEE Access

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Most industrial robots are provided by the manufacturer with a controller that cannot be modified by the user (e.g. a standard PID). This arrangement is commonly referred to as closed control architecture, since it is not possible to program arbitrary control laws. For the implementation of novel algorithms, it is on the contrary necessary to employ an open control architecture, which allows programming any control scheme. For that reason, it is customary to have testbeds that are made up of robot manipulators specially designed for this goal. Another disadvantage of the closed control architecture is that the controller provided by the manufacturer usually does not include a force control term since it allows only to program desired motion trajectories. To overcome these drawbacks without physically modifying the closed control architecture, this contribution presents a novel approach to simultaneously follow position and force trajectories by employing only motion planning, i.e. only by choosing the desired position trajectory. The approach is especially well suited for DC motor actuators with large gear reduction ratios as those of many industrial robots. The convergence of the manipulator position and applied force depends exclusively on the performance of the controller provided by the manufacturer. The approach is tested on a dual-arm cooperative manipulation system made up of two ABB IRB-2400 industrial robots with closed control architecture.

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Dynamic Modularity Approach to Adaptive Control of Robotic Systems With Closed Architecture

Cited by 37 publications

References 36 publications

Adaptive Control

Adaptive Control

Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

A Force/Motion Control Approach Based on Trajectory Planning for Industrial Robots With Closed Control Architecture

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