On a hierarchical adaptive and robust inverse dynamic control strategy with experiment for robot manipulators under uncertainties
This paper proposes a hierarchical robot manipulation control scheme for the manipulator pushing task. Considering the contact surface and the object mass parameters are generally unknown to the pushing task, a hierarchical control strategy is designed that enables the robot manipulator to perform t...
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| Published in | Control engineering practice Vol. 138; p. 105604 |
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| Main Authors | , , , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.09.2023
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0967-0661 1873-6939 |
| DOI | 10.1016/j.conengprac.2023.105604 |
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| Abstract | This paper proposes a hierarchical robot manipulation control scheme for the manipulator pushing task. Considering the contact surface and the object mass parameters are generally unknown to the pushing task, a hierarchical control strategy is designed that enables the robot manipulator to perform the manipulation pushing task without any prior knowledge of the objects mass and friction. Specifically, we first present an adaptive controller to achieve the desired interaction force exerted on the end of the manipulator even without knowing the object mass and friction contact surface. We then introduce a unified robust adaptive controller that takes into account the desired interaction manipulation force in our robot manipulator dynamics. A robust inverse dynamic controller combining a barrier Lyapunov function is included to prevent constraint violation, which can effectively keep the object motion along the desired trajectory while regulating the interaction force between the robot manipulator and the object. Furthermore, an adaptive unit control gain is designed to make the manipulator adapt to follow the perturbation variations without being overestimated. An experiment has been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods. |
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| AbstractList | This paper proposes a hierarchical robot manipulation control scheme for the manipulator pushing task. Considering the contact surface and the object mass parameters are generally unknown to the pushing task, a hierarchical control strategy is designed that enables the robot manipulator to perform the manipulation pushing task without any prior knowledge of the objects mass and friction. Specifically, we first present an adaptive controller to achieve the desired interaction force exerted on the end of the manipulator even without knowing the object mass and friction contact surface. We then introduce a unified robust adaptive controller that takes into account the desired interaction manipulation force in our robot manipulator dynamics. A robust inverse dynamic controller combining a barrier Lyapunov function is included to prevent constraint violation, which can effectively keep the object motion along the desired trajectory while regulating the interaction force between the robot manipulator and the object. Furthermore, an adaptive unit control gain is designed to make the manipulator adapt to follow the perturbation variations without being overestimated. An experiment has been performed to test the effectiveness and to demonstrate the guaranteed performance of the proposed methods. |
| ArticleNumber | 105604 |
| Author | Hu, Yingbai Li, Tong Lin, Jianjie Wang, Haoyu Liu, Yueyue Wu, Xiaoyu Duan, Jianghua Fan, Qigao |
| Author_xml | – sequence: 1 givenname: Yueyue orcidid: 0000-0002-7148-4167 surname: Liu fullname: Liu, Yueyue organization: School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, China – sequence: 2 givenname: Tong surname: Li fullname: Li, Tong organization: Department of Biomedical Engineering, National University of Singapore, 119077, Singapore – sequence: 3 givenname: Jianghua surname: Duan fullname: Duan, Jianghua organization: HKUST Shenzhen-Hong Kong Collaborative Innovation Research Institute, Shenzhen, 518000, China – sequence: 4 givenname: Xiaoyu surname: Wu fullname: Wu, Xiaoyu organization: Department of Biomedical Engineering, National University of Singapore, 119077, Singapore – sequence: 5 givenname: Haoyu surname: Wang fullname: Wang, Haoyu organization: School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, China – sequence: 6 givenname: Qigao surname: Fan fullname: Fan, Qigao organization: School of Internet of Things Engineering, Jiangnan University, Wuxi, 214122, China – sequence: 7 givenname: Jianjie surname: Lin fullname: Lin, Jianjie organization: Department of Informatics, Technical University of Munich, Munich, 85748, Germany – sequence: 8 givenname: Yingbai orcidid: 0000-0003-2452-3570 surname: Hu fullname: Hu, Yingbai email: yingbai.hu@tum.de organization: Multi-Scale Medical Robotics Centre, The Chinese University of Hong Kong, Hong Kong, China |
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| Keywords | Hierarchical adaptive control Barrier Lyapunov function Push-manipulation Manipulation force Robust inverse dynamic controller |
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| Snippet | This paper proposes a hierarchical robot manipulation control scheme for the manipulator pushing task. Considering the contact surface and the object mass... |
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| SubjectTerms | Barrier Lyapunov function Hierarchical adaptive control Manipulation force Push-manipulation Robust inverse dynamic controller |
| Title | On a hierarchical adaptive and robust inverse dynamic control strategy with experiment for robot manipulators under uncertainties |
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