Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator

Izadbakhsh, Alireza; Khorashadizadeh, Saeed; Ghandali, Samira

doi:10.1016/j.isatra.2020.06.017

Cited by 50 publications

(35 citation statements)

References 10 publications

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“…In some applications of coordinated manipulators, some adaptive control methods are also attractive that behave with perfect performance [7][8][9][10]. In order to achieve higher performance, adaptive control schemes are usually combined with other control methods, such as robust control methods [11,12], and neural networks [13,14].…”

Section: Introductionmentioning

confidence: 99%

A New Recursive Composite Adaptive Controller for Robot Manipulators

Wang

Xin

et al. 2021

Space Sci Technol

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In this paper, a new recursive implementation of composite adaptive control for robot manipulators is proposed. We investigate the recursive composite adaptive algorithm and prove the stability directly based on the Newton-Euler equations in matrix form, which, to our knowledge, is the first result on this point in the literature. The proposed algorithm has an amount of computation On, which is less than any existing similar algorithms and can satisfy the computation need of the complicated multidegree manipulators. The manipulator of the Chinese Space Station is employed as a simulation example, and the results verify the effectiveness of this proposed recursive algorithm.

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Section: Introductionmentioning

confidence: 99%

A New Recursive Composite Adaptive Controller for Robot Manipulators

Wang

Xin

et al. 2021

Space Sci Technol

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“…Due to the excellent uncertainty approximation ability of function approximation techniques such as the Fourier series (FS) (Izadbakhsh et al, 2019), Szász–Mirakyan operator (Izadbakhsh et al, 2020), and Legendre polynomials (Zarei and Khorashadizadeh, 2019) much interest has been generated in this area (Chien and Huang, 2012; Kai and Huang, 2013). Similar to other estimators such as fuzzy systems and NNs, a function can be expanded by an FS.…”

Section: Introductionmentioning

confidence: 99%

Observer-based adaptive control of robot manipulators using reinforcement learning and the Fourier series expansion

Khodamipour

Khorashadizadeh

Farshad

2021

Transactions of the Institute of Measurement and Control

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Designing observer-controller structures for nonlinear system with unknown dynamics such as robotic systems is among popular research fields in control engineering. The novelty of this paper is in presenting an observer-based model-free controller for robot manipulators using reinforcement learning (RL). The proposed controller calculates the desired motor voltages that fulfil a satisfactory tracking performance. Moreover, the uncertainties and nonlinearities in the observer model and RL controller are estimated and compensated for by using the Fourier series expansion. Simulation results and comparison with the previous related works (extended state observer and radial basis function neural networks) indicate the satisfactory performance of the proposed method.

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“…One is the active compliant strategy, which uses force feedback to identify the misalignment and compensates the positioning error using the feedback control. In the active compliance strategy, many control strategies have been presented to improve the assembly performance, including the stiffness control [3][4], the impedance control [5][6][7], and the force/position hybrid control [8][9][10][11][12]. Although the active compliance strategy has gained many successful applications, its complex control algorithm is often challenging to implement.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of Series-Parallel Compliant Device for Reliable Assembly Under Position/Angle Deviation

2021

Preprint

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Automatic assembly using manipulator has attracted increasing attention due to low cost and high quality of assembly. As the manipulator is entirely rigid, it often causes assembly failure and even damages the manipulator when there is a position or angle deviation. A series-parallel compliant device is developed here to realize the reliable assembly under the position or the angle deviation and does not produce a significant contact force. Its core idea is that when the contact force exceeds a specific value, this device becomes compliant and can move in a particular direction. It guarantees that this assembly allows a relatively significant misalignment and produces a small force, protecting parts and manipulators. This device has two compliant components, and these two components are connected using a rigid block. Each compliant component consists of the rigid frame, the four elastic limbs with a similar ‘n’ shape, and the square block. Due to using the elastic material, each elastic limb is equivalent to a compliant hinge (or spring), making this designed device equal to a series-parallel compliant structure. In this way, this device becomes compliant and can move in a particular direction when the contact force exceeds a specific value. On this basis, the desired compliance of the device is realized in various directions depending on the compliant device, and an optimization method is designed to achieve the parameters of this device based on the kinematic model and the stiffness analysis. Experiments under different working conditions are carried out and demonstrate the reliable assembling performance of this designed device even if there exists the position deviation or the angle deviation.

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Robust adaptive impedance control of robot manipulators using Szász–Mirakyan operator as universal approximator

Cited by 50 publications

References 10 publications

A New Recursive Composite Adaptive Controller for Robot Manipulators

A New Recursive Composite Adaptive Controller for Robot Manipulators

Observer-based adaptive control of robot manipulators using reinforcement learning and the Fourier series expansion

Design and Modeling of Series-Parallel Compliant Device for Reliable Assembly Under Position/Angle Deviation

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