A robust and adaptive force/position control for two cooperating robot arms under uncertainty |
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Authors: | Hyeung-Sik Choi Paul I Ro |
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Affiliation: | 1. Department of Mechanical Engineering, Korea Maritime University, Korea 2. Mechanical and Aerospace Engineering, North Carolina State University, North Carolina, USA
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Abstract: | This paper presents a motion coordination of a two-cooperating robot arm when there are unknown system parameters and bounded
input disturbances. The order of the model of the two-arm system is reduced. To control this, a force/position control scheme
based on an inverse dynamics control scheme is devised. On the top of the control scheme, an adaptive control scheme to take
care of parametric uncertainties, and a robust control scheme to compensate coupling forces between two arms and input disturbances
are devised. The adaptive and the robust control scheme are derived based on a devised Lyapunov function. The adaptive control
algorithm is practical since it does not require the feedback of the second derivative of joint angles and interacting forces.
The robust control scheme guarantees that the tracking error of the leader arm and the interacting forces between two arms
are confined in a certain region. Numerical examples using dual 3 degree of freedom robot arm are shown. |
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Keywords: | Robust Control Adaptive Control Force/Position Control Parametric Uncertainties Lyapunov's Second Method |
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