期刊
ISA TRANSACTIONS
卷 126, 期 -, 页码 134-143出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2021.07.036
关键词
Cooperative robotic manipulators; Synchronized control; Uncertain base coordinate system; Robust sliding mode control; Adaptive neural network
资金
- National Key R & D Program of China [2017YFB1301203]
- National Natural Science Foundation of China ( [2017YFB1301203, 51675470]
- Key R & D Program of Zhejiang Province [51805531, 2020C01026]
- Zhejiang University Robotics Institute [2020C01025]
- [K11808]
This paper investigates the cooperative robotic manipulators under uncertain base coordinate and proposes an adaptive robust controller to solve the problem. Mathematical proof and numerical experiments are conducted to demonstrate its effectiveness.
In this paper, cooperative robotic manipulators under uncertain base coordinate are investigated. The coordinate uncertainties result in biases of cooperative robotic dynamics, which involve horizontal and vertical translational errors in the task space and rotational errors in the joint space. To the best of our knowledge, uncertainties in the base coordinate system of cooperative robotic manipulators have drawn little attention in existing literature. To solve this problem, this paper presents an adaptive robust controller for the synchronized control of two cooperative robotic manipulators. An adaptive neural network associated with base coordinate parameter adaption law is proposed to estimate the cooperative system parameters given unknown system dynamics and base coordinate uncertainties. A synchronization-factor-based robust slide mode controller is then derived to stabilize the target position and internal force between the cooperative manipulators. Mathematical proof and numerical experiments under various conditions are conducted. The results demonstrate the satisfactory and effective convergences of both the cooperative robotic trajectory and internal force despite of uncertainties in the base coordinate system. (C) 2021 ISA. Published by Elsevier Ltd. All rights reserved.
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