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PSO-Lyapunov motion/force control of robot arms with model uncertainties

Published online by Cambridge University Press:  04 July 2014

Haifa Mehdi  and
Olfa Boubaker
Haifa Mehdi*
Affiliation:
National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676-1080 Tunis Cedex, Tunisia
Olfa Boubaker*
Affiliation:
National Institute of Applied Sciences and Technology, INSAT, Centre Urbain Nord, BP 676-1080 Tunis Cedex, Tunisia
*
*Corresponding author. E-mail: haifa.mehdi@gmail.com
E-mail: olfa.boubaker@insat.rnu.tn
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Summary

A method for motion/force control of robot arms with model uncertainties is presented. Tracking control of complex trajectories is guaranteed using a Lyapunov approach with high-precision performance ensured using a particle swarm optimization (PSO) algorithm. Tracking performance and robustness are simulated for a robotic device for limb rehabilitation that is designed to be adapted easily to different subjects by considering model parameter uncertainties. Controller parameters are optimized offline using the PSO algorithm with Lyapunov stability conditions considered as inequality constraints. Using the control scheme, the robot can guide limbs on smooth and non-smooth trajectories, under model uncertainties and measurement noise.

Keywords

Motion/force controlStiffness controlConstrained motionRobot armLyapunov theoryModel uncertainties
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 634 - 651
Copyright
Copyright © Cambridge University Press 2014 

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