The cooperation control of multiple robotic manipulators with disturbance observers

In this paper, we present cooperation adaptive controllers for two cooperating robotic manipulators moving an object with constrained trajectory/force in the presence of dynamics uncertainties and external disturbances. The cooperating manipulators are described as an aggregation of subsystems. For...

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Bibliographic Details
Published inProceedings of the 2013 International Conference on Advanced Mechatronic Systems pp. 112 - 117
Main Authors Shuming Deng, Zhijun Li, Chun-Yi Su, Min Wang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2013
Subjects
Adaptation models
Bismuth
Cooperation
disturbance observer
Manipulators
robotic manipulators
Servers
Trajectory
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Summary:In this paper, we present cooperation adaptive controllers for two cooperating robotic manipulators moving an object with constrained trajectory/force in the presence of dynamics uncertainties and external disturbances. The cooperating manipulators are described as an aggregation of subsystems. For control design, first a decentralized local dynamics coupled with physical interactions between subsystems is developed, and then a decentralized adaptive control merging parameter adaptation and disturbance observer is constructed, such that motion and force trajectories converge to the desired manifolds and the effect of nonparametrizable uncertainties is compensated by the disturbance observer. Experiment studies are carried out to show the efficiency of the control design.
ISSN:2325-0682
2325-0690
DOI:10.1109/ICAMechS.2013.6681760