Journal ArticleDOI
Adaptive Parameter Estimation and Control Design for Robot Manipulators With Finite-Time Convergence
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TLDR
A robot control/identification scheme to identify the unknown robot kinematic and dynamic parameters with enhanced convergence rate was developed, and the information of parameter estimation error was properly integrated into the proposed identification algorithm, such that enhanced estimation performance was achieved.Abstract:
For parameter identifications of robot systems, most existing works have focused on the estimation veracity, but few works of literature are concerned with the convergence speed. In this paper, we developed a robot control/identification scheme to identify the unknown robot kinematic and dynamic parameters with enhanced convergence rate. Superior to the traditional methods, the information of parameter estimation error was properly integrated into the proposed identification algorithm, such that enhanced estimation performance was achieved. Besides, the Newton–Euler (NE) method was used to build the robot dynamic model, where a singular value decomposition-based model reduction method was designed to remedy the potential singularity problems of the NE regressor. Moreover, an interval excitation condition was employed to relax the requirement of persistent excitation condition for the kinematic estimation. By using the Lyapunov synthesis, explicit analysis of the convergence rate of the tracking errors and the estimated parameters were performed. Simulation studies were conducted to show the accurate and fast convergence of the proposed finite-time (FT) identification algorithm based on a 7-DOF arm of Baxter robot.read more
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References
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Journal ArticleDOI
Estimation of inertial parameters of manipulator loads and links
TL;DR: In this article, the inertial parameters of manipulator rigid-body loads and links have been automatically estimated as a result of gen eral movement, and the Newton-Euler equations have been recast to relate linearly.
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Dynamics and control of redundantly actuated parallel manipulators
TL;DR: In this article, a simple scheme for computing the inverse dynamics of a redundant actuation of a parallel manipulator is proposed, and four basic control algorithms, a joint-space proportional derivative (PD), a PD control in generalized coordinates, an augmented PD control, and a computed-torque control, are formulated.
Journal ArticleDOI
Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions
Chenguang Yang,Gowrishankar Ganesh,Sami Haddadin,Sven Parusel,Alin Albu-Schaeffer,Etienne Burdet +5 more
TL;DR: Simulations show that this novel human-like learning controller is a good model of human motor adaptation and can deal with unstable situations that are typical of tool use and gradually acquire a desired stability margin.
Journal ArticleDOI
Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision
TL;DR: In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is integrated into the control design and effectiveness of the proposed control design has been shown through experiments carried out on the Baxter Robot.
Journal ArticleDOI
Teleoperation Control Based on Combination of Wave Variable and Neural Networks
TL;DR: A novel control scheme is developed for a teleoperation system, combining the radial basis function (RBF) neural networks (NNs) and wave variable technique to simultaneously compensate for the effects caused by communication delays and dynamics uncertainties.