Paper Info
Title
A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment.
Abstract
This paper presents a robust hybrid force/position control scheme of two cooperative manipulators handling an unknown object interacting with an unknown environment. The uncertainty of the object is considered in the weight, length, and the position of centre of mass (COM). The environment is assumed to have an unknown but high stiffness. A hybrid force/position control algorithm is designed for the known system and environment case. The exponential convergence of the position and the interaction force with the environment is proved using the Lyapunov direct method. Similarly, in the unknown object and environment case, and in the presence of bounded disturbances on the robots and the object, an adaptive sliding mode hybrid force/position control scheme is designed. The asymptotic convergence of the object's position and the constraint force is guaranteed using the proposed control methodology. The internal forces and moments between the object and robots are controlled independently of the object's motion and environmental interaction forces. Simulation results confirm the performance and effectiveness of the suggested control methodologies.
Year
DOI
Venue
2012
10.1177/0959651811424251
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
Keywords
Field
DocType
cooperative systems,adaptive control,sliding mode control,hybrid force/position control,constraint,internal forces
Convergence (routing),Control theory,Stiffness,Planar,Engineering,Adaptive control,Robot,Center of mass,Bounded function,Sliding mode control
Journal
Volume
Issue
ISSN
226
I4
0959-6518
Citations 
PageRank 
References 
4
0.43
9
Authors
5
Name
Order
Citations
PageRank
Reza Mohajerpoor1535.93
Seyed Mehdi Rezaei2165.89
Heidar Ali Talebi317632.23
M. Noorhosseini440.43
Reza Monfaredi5238.16