Paper Info
Title
Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics
Abstract
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition.
Year
DOI
Venue
2022
10.1109/VSS57184.2022.9901611
2022 16th International Workshop on Variable Structure Systems (VSS)
DocType
ISSN
ISBN
Conference
2158-3978
978-1-6654-6360-7
Citations 
PageRank 
References 
0
0.34
11
Authors
4
Name
Order
Citations
PageRank
Udayan Banerjee100.34
Bhabani Shankar Dey200.34
Indra Narayan Kar300.34
Subir Kumar Saha400.34