Finite-time adaptive control for the dual-arm space robots with uncertain kinematics, dynamics and deadzone nonlinearities

Zhan, Bowen; Jin, Minghe; Yang, Guocai; Huang, Bolong

doi:10.1177/0954406221993839

Cited by 3 publications

(2 citation statements)

References 34 publications

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“…Sen et al 14 investigated the PID controller in detail and determined the best gains with the genetic algorithm method through comparison of multiple methods, which reduced the vibration of the mechanism. Zhan et al 15 developed adaptive algorithms for the dual-arm robot to follow trajectories accurately, and the effectiveness of the algorithms was validated by simulation results.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a 2-DOF 5R parallel mechanism with a coaxial-driven layout

Zhang,

Hou,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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In order to expand and improve the reachable workspace of planar parallel manipulators, a 2-DOF 5R parallel mechanism with a coaxial-driven layout is proposed. The configuration analysis and structural design are carried out, and the kinematic model is presented to conduct simulation analysis. The results indicate that the layout with the axes of the two driving devices overlapping has a larger workspace and a more compact structure. Meanwhile, a closed-loop PID control system is established to evaluate the accuracy of the proposed mechanism and analyse the kinematic error under different gain parameters. Simulation results indicate that the kinematic performance of the mechanism has improved. The control system is constructed based on using a motion control card as the primary control component and two servo motors as the drive device. Additionally, gain values are adjusted by the driver to reduce the deviation of the servo motors. Finally, the design of the prototype is deployed, and the experiment proved that the 2-DOF 5R planar parallel mechanism (PPM) with a coaxial-driven layout has the advantages of a large workspace, fast dynamic response, high stiffness, and easy control. The design of the 2-DOF 5R PPM solves the problem of single operation and high repeatability, which is increasingly utilized in the fields of electronics, food, daily chemicals, and pharmaceuticals.

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Section: Introductionmentioning

confidence: 99%

Design and implementation of a 2-DOF 5R parallel mechanism with a coaxial-driven layout

Zhang,

Hou,

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

show abstract

“…Under the effect of control input dead zone, the motion becomes more complex and affects the dynamic characteristics and steady-state accuracy of the system. [30][31][32] For dual arm space robots, Zhan et al 33 proposed the finite time adaptive control scheme and constructed the smooth dead zone inverse to reduce the influence of dead zone nonlinearity; Jiang et al 34 introduced the smooth inverse adaptive dead zone to compensate for the asymmetric dead zone structure of unknown parameters, which guaranteed a high accuracy tracking in the dual arm robot system. Chen et al 35 introduced the adaptive fuzzy feedforward compensator and the dead zone adaptive fuzzy compensator respectively on the basis of the computed torque control, and verified the effectiveness of the controller.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors

Sun

Wang

et al. 2022

Measurement and Control

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In this paper, aiming at the problem of high-precision trajectory tracking of the gantry welding robot system under the influence of uncertain factors, a composite adaptive fuzzy compensation controller based on the computed torque control strategy has been proposed. The controller is composed of an adaptive fuzzy feedback control strategy and a dead zone adaptive fuzzy control strategy, which realizes high-precision trajectory tracking of the gantry welding robot, improves the solving speed of the control algorithm, and its tracking errors has been reduced. Screw theory and Lie group lie algebra are used to solve the problem of high algorithm complexity of controllers in multi-degree-of-freedom robot systems due to Newton-Euler dynamics modeling. Based on the computed torque control, the adaptive fuzzy feedback control strategy is adopted to compensate for the modeling errors and external disturbances in the gantry welding robot system, and the dead zone adaptive fuzzy control strategy is designed to compensate for the nonlinear dead zone structure with unknown parameters. The Lyapunov equation is introduced to prove the stability of the controller. Finally, the controller designed in this paper is compared with the conventional controller through simulation and experiment on the gantry welding robot platform, which verifies the effectiveness and superiority of the controller.

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Adaptive neural network control of manipulators with uncertain kinematics and dynamics

Yang,

Zhao,

et al. 2024

Engineering Applications of Artificial Intelligence

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Finite-time adaptive control for the dual-arm space robots with uncertain kinematics, dynamics and deadzone nonlinearities

Cited by 3 publications

References 34 publications

Design and implementation of a 2-DOF 5R parallel mechanism with a coaxial-driven layout

Design and implementation of a 2-DOF 5R parallel mechanism with a coaxial-driven layout

Trajectory tracking control strategy of the gantry welding robot under the influence of uncertain factors

Adaptive neural network control of manipulators with uncertain kinematics and dynamics

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