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Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision
Chenguang Yang,
Yiming Jiang,
Zhijun Li,
Wei He,
Chun-Yi Su
IEEE Transactions on Industrial Informatics, Volume: 13, Issue: 3, Pages: 1162 - 1171
Swansea University Author: Chenguang Yang
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DOI (Published version): 10.1109/TII.2016.2612646
Abstract
Robots with coordinated dual arms are able to perform more complicated tasks that a single manipulator could hardly achieve. However, more rigorous motion precision is required to guarantee effective cooperation between the dual arms, especially when they grasp a common object. In this case, the int...
| Published in: | IEEE Transactions on Industrial Informatics |
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| ISSN: | 1551-3203 1941-0050 |
| Published: |
2017
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa39396 |
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| Abstract: |
Robots with coordinated dual arms are able to perform more complicated tasks that a single manipulator could hardly achieve. However, more rigorous motion precision is required to guarantee effective cooperation between the dual arms, especially when they grasp a common object. In this case, the internal forces applied on the object must also be considered in addition to the external forces. Therefore, a prescribed tracking performance at both transient and steady states is first specified, and then, a controller is synthesized to rigorously guarantee the specified motion performance. In the presence of unknown dynamics of both the robot arms and the manipulated object, the neural network approximation technique is employed to compensate for uncertainties. In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is integrated into the control design. Effectiveness of the proposed control design has been shown through experiments carried out on the Baxter Robot. |
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| College: |
Faculty of Science and Engineering |
| Issue: |
3 |
| Start Page: |
1162 |
| End Page: |
1171 |