Sliding mode with adaptive estimation force control of robot manipulators 

interacting with an unknown passive environment

Tsaprounis, C. J.; Aspragathos, Nikos Α.

doi:10.1017/s0263574799001502

Cited by 8 publications

(4 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Model-based inverse dynamics with and without coordinate partitioning have been investigated by Siciliano and Villani (2001) and Parra-Vega and Arimoto (1996), respectively; and adaptive joint control for constrained systems yield the simultaneous asymptotic convergence of position and force tracking errors, as reported by Stepanenko and Chun-Yi (1995). In addition, the first-order sliding mode control produces an exponential tracking at the expense of the chattering whose discontinuity is rendered at a high frequency (Lian and Lin, 1998;Tsaprounis and Aspragathos, 1999). However, to implement these approaches, it is necessary to know exactly the robot dynamics or at least a set of physical parameters (Arimoto, 1996).…”

Section: Constrained Motionmentioning

confidence: 99%

Cartesian sliding PID control schemes for tracking robots with uncertain Jacobian

García-Rodríguez

Parra-Vega

2011

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

Owing to the fact that desired tasks are usually defined in operational coordinates, inverse and direct kinematics must be computed to obtain joint coordinates and Cartesian coordinates, respectively. However, in order to avoid the ill-posed nature of the inverse kinematics, Cartesian controllers have been proposed. Considering that Cartesian controllers are based on the assumption that the Jacobian is well known, an uncertain Jacobian will produce a non-exact localization of the end-effector. In this paper, we present an alternative approach to solve the problem of Cartesian tracking for free and constrained motion subject to Jacobian uncertainty. These Cartesian schemes are based on sliding PID controllers where the Cartesian errors are mapped into joint errors without any knowledge of robot dynamics. Sufficient conditions for feedback gains and stability properties of the estimate inverse Jacobian are presented to guarantee stability. Experimental results are provided to visualize the real-time stability properties of the Cartesian proposed schemes.

show abstract

Section: Constrained Motionmentioning

confidence: 99%

Cartesian sliding PID control schemes for tracking robots with uncertain Jacobian

García-Rodríguez

Parra-Vega

2011

Transactions of the Institute of Measurement and Control

View full text Add to dashboard Cite

show abstract

“…This method is chosen for formation control because it allows a systematic approach to the problem of maintaining stability and consistent performance in the face of modeling imprecision. Further, it is a proven method applied to a number of applications such as robot manipulators (Tsaprounis and Aspragathos 1999), underwater vehicles (Innocenti and Campa 1999), marine crafts (Fahimi 2007a), helicopters (Fahimi 2008), automotive engines (Bhatti et al 1999), electric motors (Proca et al 2003) and power systems (Dash et al 1996).…”

Section: Control Designmentioning

confidence: 99%

Experimental test of a robust formation controller for marine unmanned surface vessels

et al. 2009

View full text Add to dashboard Cite

Experiments with two formation controllers for marine unmanned surface vessels are reported. The formation controllers are designed using the nonlinear robust model-based sliding mode approach. The marine vehicles can operate in arbitrary formation configurations by using two leader-follower control schemes. For the design of these controller schemes 3 degrees of freedom (DOFs) of surge, sway, and yaw are assumed in the planar motion of the marine surface vessels. Each vessel only has two actuators; therefore, the vessels are underactuated and the lack of a kinematic constraint puts them into the holonomic system category. In this work, the position of a control point on the vessel is controlled, and the orientation dynamics is not directly controlled. Therefore, there is a potential for an oscillatory yaw motion to occur. It is shown that the orientation dynamics, as the internal dynamics of this underactuated system, is stable, i.e., the follower vehicle does not oscillate about its control point during the formation maneuvers. The proposed formation controller relies only on the state information obtained from the immediate neighbors of the vessel and the vessel itself. The effectiveness and robustness of formation control laws in the presence of parameter uncertainty and environmental disturbances are demonstrated by using both simulations and field experiments. The experiments were performed in a natural environment on a lake using a small test boat, and show robust performance to parameter uncertainty and disturbance.the first experimental verification of the above mentioned approach, whose unique features are the use of a control point, the zero-dynamic stability analysis, the use of leaderfollower method and a nonlinear robust control approach.

show abstract

“…Robust force control is used to achieve the target dynamics such as the target impedance, and to preserve the stability robustness in the presence of modeling errors in the robot and in the environment [6]. The design concept of sliding mode is widely used in order to overcome the difficulty to achieve a robust control.…”

Section: Introductionmentioning

confidence: 99%

“…Robust control law is usually built by employing Lyapunov's direct method. The designed robust control guarantees the achievement of the predefined target dynamics, while preserving stability in the presence of modeling errors [6].…”

Section: Introductionmentioning

confidence: 99%

Position with Force Feedback Control of Manipulator Arm

Rajeswari¹,

Chitra²,

Gopal³

2018

IJERT

View full text Add to dashboard Cite

Abstract-This paper deals with the modeling and simulation of position with force feedback control of manipulator arm. The manipulator is used to collect the potentially hazardous samples and store it. Each joint in the manipulator is actuated by electromechanical actuator. In the proposed work the Electromechanical actuator consists of Permanent Magnet Synchronous Motor (PMSM) with gear box and its accessories. The position control of the manipulator is executed through PMSM motor which is controlled using the vector control technique with the force control loop being added as the outer loop. The entire process is executed using MATLAB SIMULINK software. Simulation results show that the PMSM drive nearly catches the reference signal and we can get the desired speed and position variation according to the reference command. In case of force control some deviations are observed which is due to the environment stiffness parameter.

show abstract

Sliding mode with adaptive estimation force control of robot manipulators interacting with an unknown passive environment

Cited by 8 publications

References 15 publications

Cartesian sliding PID control schemes for tracking robots with uncertain Jacobian

Cartesian sliding PID control schemes for tracking robots with uncertain Jacobian

Experimental test of a robust formation controller for marine unmanned surface vessels

Position with Force Feedback Control of Manipulator Arm

Contact Info

Product

Resources

About