Model‐free event‐triggered distributed coordination control for dual‐arm reconfigurable manipulators with unknown object constraints

Abstract

In this paper, a model‐free event‐triggered distributed coordination control of dual‐arm reconfigurable manipulators is presented for handling unknown object task. Firstly, based on Newton‐Euler algorithm and kinematic analysis, the dynamic models of the dual‐arm manipulators and grasped object are established, respectively. According to the load distribution method, the motion‐induced force is effectively distributed to each arm. Then the dynamics of single‐arm manipulator for handling task is obtained. Secondly, the adaptive algorithm based on gradient model is proposed to estimate the position of object's center of mass (COM). The fusion state variable function is improved to achieve coordination control, reflecting the tracking performance of the position and internal force. For the modeless reconfigurable manipulator, the radial basis function neural network (RBFNN)‐based observer is utilized to approximate the uncertain dynamics. Further, the aperiodic model‐free distributed coordination controller is obtained through event‐triggered mechanism. Next, the uniformly ultimately bounded (UUB) stability of dual‐arm reconfigurable manipulators system is proved through Lyapunov stability theory. Finally, the experimental results verify that the proposed coordination control approach is valid.