Hostname: page-component-7b7567c8c-wxvwp Total loading time: 0 Render date: 2026-11-14T07:02:13.156Z Has data issue: false hasContentIssue false
  • English
  • Français

A new observer-based adaptive controller for cooperative handling of an unknown object

Published online by Cambridge University Press:  12 September 2014

Reza Monfaredi,
S. Mehdi Rezaei and
Ali Talebi
Reza Monfaredi*
Affiliation:
Mechanical Engineering Department and New Technology Research Center, University of Amirkabir, Tehran, IranChildren's National Medical Center, Washington DC, USA
S. Mehdi Rezaei
Affiliation:
Mechanical Engineering Department and New Technology Research Center, University of Amirkabir, Tehran, Iran
Ali Talebi
Affiliation:
Electrical Engineering Department and New Technology Research Center, University of Amirkabir, Tehran, Iran
*
*Corresponding author. E-mail: rmonfare@cnmc.org
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

This paper presents a new observer-based adaptive controller for handling an object with unknown geometry, center of mass, and inertia using a cooperative robotic system. The cooperative robotic system comprises three Cartesian robots, where robots and the grasped object form a closed-loop kinematic chain. The unknown object is approximated by three virtual links of unknown lengths rigidly attached to one another at the object's center of mass (COM). Due to the unknown COM and unknown inertia of the object, the lengths and inertia of these virtual links are unknown, resulting in kinematic and dynamic uncertainties in the control system. A parameter estimator is proposed to estimate the object's COM to compensate for kinematic uncertainties of the system. Moreover, a new dynamic adaptation law is developed to cope with dynamic uncertainties of the object. The dynamic equations of the cooperative system are transformed from joint space into task space. These task space dynamics are transformed into object space by passively decomposing the dynamics into two decoupled systems, i.e. locked and shaped systems. An adaptive controller is developed for the locked system, and the shaped system is controlled by a composite controller based on a PD controller plus a stabilizing damping term. The stability of the proposed controllers is shown using the passivity concept and Lyapunov theorem. Simulation results show that the closed-loop position error asymptotically converges to zero. It is also shown that kinematic and dynamic adaptation parameters converge to real and bounded values respectively.

Keywords

Cooperative robotic systemUnknown objectDynamic uncertaintyKinematic uncertaintyObserver-based adaptive control

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 7 , July 2016, pp. 1437 - 1463
Copyright
Copyright © Cambridge University Press 2014 

References

1.Craig, J. J., Hsu, P. and Sastry, S. S., “Adaptive control of mechanical manipulators,” Int. J. Robot. Res. 6 (2), 16–28 (1987).Google Scholar
2.Hsu, P., Bodson, M., Sastry, S. and Paden, B., “Adaptive identification and control for manipulators without using joint accelerations,” Proceedings of the International Conference on Robotics and Automation, vol. 4, Raleigh, NC, USA (Mar. 31–Apr. 3, 1987) pp. 1210–1215.Google Scholar
3.Slotine, J. J. E. and Li, W., “On the adaptive control of robot manipulators,” Int. J. Robot. Res. 6 (3), 49–59 (1987).Google Scholar
4.Cheah, C. C., Hirano, M., Kawamura, S. and Arimoto, S., “Approximate Jacobian control for robots with uncertain kinematics and dynamics,” IEEE Trans. Robot. Autom. 19 (4), 692–702 (2003).Google Scholar
5.Cheah, C. C., Kawamura, S. and Arimoto, S., “Feedback control for robotic manipulators with an uncertain Jacobian matrix,” J. Robot. Syst. 12 (2), 119–134 (1999).Google Scholar
6.Cheah, C. C., Liu, C. and Slotine, J. J. E., “Approximate Jacobian Adaptive Control for Robot Manipulators,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation, vol. 3, New Orleans, LA, USA (Apr. 26–May 1, 2004) pp. 3075–3080.CrossRefGoogle Scholar
7.Cheah, C. C., Liu, C. and Slotine, J. J. E., “Adaptive Jacobian Tracking Control of Robots Based on Visual Task-Space Information,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain (Apr. 18–22, 2005) pp. 3498–3503.Google Scholar
8.Gudiño-Lau, J. and Arteaga, M. A., “Dynamic model and simulation of cooperative robots: A case study,” Int. J. Robot. 23 (5), 615–624 (2005).Google Scholar
9.Gudiño-Lau, J., Arteaga, M. A., Muñoz, L. A. and Parra-Vega, V., “On the control of cooperative robots without velocity measurements,” IEEE Trans. Control Syst. Technol. 12 (4), 600–608 (2004).Google Scholar
10.Tsuji, T., Jazidie, A. and Kaneko, M., “Distributed trajectory generation for cooperative multi-arm robots via virtual force interactions,” IEEE Trans. Syst. Man Cybern. B 27 (5), 862–867 (1997).Google Scholar
11.Lee, D. and Spong, M. W., “Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Theory,” Proceedings of the International Conference on Robotics and Automation, Barcelona, Spain (Apr. 18–22, 2005) pp. 360–365.Google Scholar
12.Lee, D., Palafox, O. M. and Spong, M. W., “Bilateral Teleoperation of Multiple Cooperative Robots over Delayed Communication Networks: Application,” Proceedings of the International Conference on Robotics and Automation, Barcelona, Spain (Apr. 18–22, 2005) pp. 366–371.Google Scholar
13.Sirouspour, S., “Robust Control Design for Cooperative Teleoperation,” Proceedings of the International Conference on Robotics and Automation, Barcelona, Spain (Apr. 18–22, 2005) pp. 1133–1138.Google Scholar
14.Kawasaki, H., Ueki, S. and Ito, S., “Decentralized adaptive coordinated control of multiple robot arms without using a force sensor,” Int. J. Autom. 42 (3), 481–488 (2006).Google Scholar
15.Tang, C. P. and Krovi, V. N., “Manipulability-based configuration evaluation of cooperative payload transport by mobile manipulator collectives,” Int. J. Robot. 25 (1), 29–42 (2007).Google Scholar
16.Sarikaya, H., Burkan, R. and Uzmay, I., “Robust and adaptive control of three dimensional revolute-jointed cooperative manipulators for handling automation,” Int. J. Robot. 24 (2), 163–172 (2006).Google Scholar
17.Rastegari, R. and Moosavian, S. A. A., “Multiple Impedance Control of Cooperative Manipulators Using Virtual Object Grasp,” Proceedings of the IEEE International Conference on Control Applications, Munich, Germany (Oct. 4–6, 2006) pp. 2872–2877.Google Scholar
18.Tinós, R., Henrique Terra, M. and Ishihara, J. Y., “Motion and force control of cooperative robotic manipulators with passive joints,” IEEE Trans. Control Syst. Technol. 14 (4), 725–734 (2006).Google Scholar
19.Monfaredi, R., Rezaei, S.M. and Talebi, H.A., “A cooperative robotic system for handling a geometrically unknown object,” Int. J. Control Syst. IMechE I. 224 (8), 970–982 (2010).Google Scholar
20.Monfaredi, R., Rezaei, S. M. and Talebi, H. A., “A Cooperative Robotic System for Handling a Geometrically Unknown Object for Non-rigid Contact Without Force Sensors,” Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand (Dec. 7–11, 2011) pp. 240–245.Google Scholar
21.Mohajerpoor, R., Rezaei, S. M., Talebi, H. A. and Monfaredi, R., “A Robust Adaptive Control Scheme for Two Planar Manipulators Handling an Unknown Object in an Assembly Process,” Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket, Thailand (Dec. 7–11, 2011) pp. 156–161.CrossRefGoogle Scholar
22.Mohajerpoor, R., Rezaei, S. M., Talebi, H. A. and Monfaredi, R., “An Adaptive Hybrid Control Scheme for Two Planar Manipulators Handling an Unknown Object in an Assembly Process,” Proceedings of the 2nd International Conference on Control, Instrumentation and Automation (ICCIA), Shiraz, Iran (Dec. 2011) pp. 835–840.CrossRefGoogle Scholar
23.Mohajerpoor, R., Rezaei, M., Talebi, H. A., Noorhosseini, M. and Monfaredi, R., “A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment,” Proceedings of the Institution of Mechanical Engineers, part I, J. Syst. Control Eng., 226 (4), 509–522 (2012).Google Scholar
24.Seifabadi, R., Rezaei, S. M., Ghidary, S. S., Zareinejad, M. and Saadat, M., “To enhance transparency of a Piezo-actuated tele-micromanipulator using passive bilateral control,” Robotica 28 (5), 689–703 (2010) (Cambridge University Press).Google Scholar
25.Lee, D. and Li, P. Y., “Passive bilateral control and tool dynamics rendering for nonlinear mechanical teleoperator,” IEEE Trans. Robot. 21 (5), 936–951 (2005).Google Scholar