Baigzadehnoe Barmak, Rahmani Zahra, Khosravi Alireza, Rezaie Behrooz
Department of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Shariati Av., Babol, Mazandaran, Iran.
Department of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Shariati Av., Babol, Mazandaran, Iran.
ISA Trans. 2017 Sep;70:432-446. doi: 10.1016/j.isatra.2017.07.029. Epub 2017 Aug 8.
In this paper, the position and force tracking control problem of cooperative robot manipulator system handling a common rigid object with unknown dynamical models and unknown external disturbances is investigated. The universal approximation properties of fuzzy logic systems are employed to estimate the unknown system dynamics. On the other hand, by defining new state variables based on the integral and differential of position and orientation errors of the grasped object, the error system of coordinated robot manipulators is constructed. Subsequently by defining the appropriate change of coordinates and using the backstepping design strategy, an adaptive fuzzy backstepping position tracking control scheme is proposed for multi-robot manipulator systems. By utilizing the properties of internal forces, extra terms are also added to the control signals to consider the force tracking problem. Moreover, it is shown that the proposed adaptive fuzzy backstepping position/force control approach ensures all the signals of the closed loop system uniformly ultimately bounded and tracking errors of both positions and forces can converge to small desired values by proper selection of the design parameters. Finally, the theoretic achievements are tested on the two three-link planar robot manipulators cooperatively handling a common object to illustrate the effectiveness of the proposed approach.
本文研究了协作机器人操纵器系统在处理具有未知动力学模型和未知外部干扰的公共刚性物体时的位置和力跟踪控制问题。利用模糊逻辑系统的通用逼近特性来估计未知系统动力学。另一方面，通过基于被抓取物体的位置和方向误差的积分和微分定义新的状态变量，构建了协作机器人操纵器的误差系统。随后，通过定义适当的坐标变换并使用反步法设计策略，为多机器人操纵器系统提出了一种自适应模糊反步位置跟踪控制方案。通过利用内力的特性，还在控制信号中添加了额外的项来考虑力跟踪问题。此外，结果表明，所提出的自适应模糊反步位置/力控制方法可确保闭环系统的所有信号一致最终有界，并且通过适当选择设计参数，位置和力的跟踪误差都可以收敛到较小的期望值。最后，在两个协同处理公共物体的三连杆平面机器人操纵器上对理论成果进行了测试，以说明所提方法的有效性。
