A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment

Mohajerpoor,, Rezaei, Mehdi R., Talebi, Ali, Noorhosseini, Majid and Monfaredi, Reza 2012, 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: Journal of systems and control engineering, vol. 226, no. 4, pp. 509-522, doi: 10.1177/0959651811424251.

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Title A robust adaptive hybrid force/position control scheme of two planar manipulators handling an unknown object interacting with an environment
Author(s) Mohajerpoor,
Rezaei, Mehdi R.
Talebi, Ali
Noorhosseini, Majid
Monfaredi, Reza
Journal name Proceedings of the Institution of Mechanical Engineers. Part I: Journal of systems and control engineering
Volume number 226
Issue number 4
Start page 509
End page 522
Total pages 14
Publisher Sage
Place of publication London, Eng.
Publication date 2012-04-01
ISSN 0959-6518
2041-3041
Keyword(s) cooperative systems
adaptive control
sliding mode control
hybrid force/position control
constraint
internal forces
Summary This paper presents a robust hybrid force/position control scheme of two cooperative manipulators handling an unknown object interacting with an unknown environment. The uncertainty of the object is considered in the weight, length, and the position of centre of mass (COM). The environment is assumed to have an unknown but high stiffness. A hybrid force/position control algorithm is designed for the known system and environment case. The exponential convergence of the position and the interaction force with the environment is proved using the Lyapunov direct method. Similarly, in the unknown object and environment case, and in the presence of bounded disturbances on the robots and the object, an adaptive sliding mode hybrid force/position control scheme is designed. The asymptotic convergence of the object's position and the constraint force is guaranteed using the proposed control methodology. The internal forces and moments between the object and robots are controlled independently of the object's motion and environmental interaction forces. Simulation results confirm the performance and effectiveness of the suggested control methodologies.
Language eng
DOI 10.1177/0959651811424251
Field of Research 010203 Calculus of Variations, Systems Theory and Control Theory
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1.1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2011, IMechE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30073510

Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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