Adaptive Control for Dual-Arm Robotic System Based on Radial Basis Function Neural Network
Main Article Content
Abstract
The paper has developed an adaptive control using neural network for controlling dual-arm robotic system in stable grasping a rectangle object and moving it to the desired trajectories. Firstly, an overall dynamics of the manipulators and the object has been derived based on Euler-Lagrangian principle. And then based on the dynamics, a controller has proposed to achieve the desired trajectories of the grasping object. A radial neural network has been applied to compensate uncertaities of dynamic parameters. The adaptive learning algorithm has been derived owning to Lyapunov stability principle to guarantee asymptotical convergence of the closed loop system. Finally, simulation work on MatLab has been carried out to reconfirm the accuracy and the effectiveness of the proposed controller.
Keywords
Adaptive control, dynamics, Radial Basis Function Neural Network, dual-arm robotic
Article Details
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References
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[15]. Liu, Jinkun, Intelligent control design and MATLAB simulation, Tsinghua University Press, Beijing and Springer Nature Singapore Pte Ltd. (2018) https://doi.org/10.1007/978-981-10-5263-7
[2]. S. S. W. Gueaieba, M. Bolica, Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics, Automatica. 43 (2007) 842–851. https://doi.org/10.1016/j.automatica.2006.10.025
[3]. V. M. Tuneski AI, Dimirovski GM, Adaptive control of multiple robots manipulation on a dynamical environment, Proc Inst Mech Eng I: J Syst Control Eng (2001) 385–404 https://doi.org/10.1177/095965180121500411
[4]. B. R. R. Uzmay I I, Sarikaya H H, Application of robust and adaptive control techniques to cooperative manipulation, Control Eng Pract. (2004). https://doi.org/10.1016/S0967-0661(03)00017-0
[5]. M. R. R. Mohajerpoor, A. Talebi, M. Noorhosseini, R. Monfaredi, 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. (2011). https://doi.org/10.1177/0959651811424251
[6]. B. R. Uzmay I, and Sarikaya H, Application of robust and adaptive control techniques to cooperative manipulation, Control Eng Pract. (2004) 139–148. https://doi.org/10.1016/S0967-0661(03)00017-0
[7]. L. C. Z. Hou, M. Tan, Coordination of two redundant robots using a dual neural network, Proceedings of the International Joint Conference on Neural Network. (2006) 4187–4192.
[8]. N. K. Vikas Panwar, N. Sukavanam, Jin-Hwan Borm, Adaptive neural controller for cooperative multiple robot manipulator system manipulating a single rigid object, Applied Soft Computing. (2012) 216–227. https://doi.org/10.1016/j.asoc.2011.08.051
[9]. N. W. Zhao D, and Zhu Q, A framework of neural networks based consensus control for multiple robotic manipulators, Neurocomputing (2014). https://doi.org/10.1016/j.neucom.2014.03.049
[10]. Z. Q. Zhao D, Li N, Synchronized control with neuroagents for leader follower based multiple robotic manipulators, Neurocomputing. (2014) 149–161. https://doi.org/10.1016/j.neucom.2013.07.016
[11]. Young Hoon Joo, Le Anh Tuan, Le Quoc Tien and Pham Xuan Duong, Adaptive Neural Network Second-order Sliding Mode Control of Dual Arm Robots, International Journal of Control, Automation and Systems 15(X) (2017) https://doi.org/10.1007/s12555-017-0026-1
[12]. J. W. Fan XU, Guo-dong LU, Adaptive robust neural control of a two-manipulator system holding a rigid object with inaccurate base frame parameters, Frontiers of Information Technology & Electronic Engineering. (2018) 1316-1327. https://doi.org/10.1631/FITEE.1601707
[13]. Luu Thi Hue, Nguyen Pham Thuc Anh, Application of force observer in force control of dual-arm robot, Special issue on measurement, control and automation, vol. 21, No 3, December (2018).
[14]. Z. R. Barmak Baigzadehnoe, Alireza Khosravi, Behrooz Rezaie, On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping approach, ISA Transactions. (2017). https://doi.org/10.1016/j.isatra.2017.07.029
[15]. Liu, Jinkun, Intelligent control design and MATLAB simulation, Tsinghua University Press, Beijing and Springer Nature Singapore Pte Ltd. (2018) https://doi.org/10.1007/978-981-10-5263-7