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Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Published online by Cambridge University Press:  18 October 2021

Mohamed Abbas Open the ORCID record for Mohamed Abbas [Opens in a new window]  and
Santosha K. Dwivedy
Mohamed Abbas*
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Guwahati, Guwahati, Assam-781039, India Design and Production Engineering Department, Al-Baath University, Homs, Syria
Santosha K. Dwivedy
Affiliation:
Mechanical Engineering Department, Indian Institute of Technology Guwahati, Guwahati, Assam-781039, India
*
*Corresponding author: E-mail: abbas@iitg.ac.in.
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Abstract

In this paper, an improved adaptive motion-force control approach is introduced to control the cooperative manipulators transporting a shared object under limited communication. The adaptive controller is designed based on the backstepping approach to control the motion of the handled object in the presence of uncertainties and external disturbances. Moreover, the force controller is established to maintain constant internal forces. An event-triggered (ET) mechanism is derived based on the Lyapunov analysis to deal with the bandwidth restrictions and maintain the system stability during the cooperative manipulation. The effectiveness of the proposed control scheme is investigated by comparing it with the existing variations of adaptive backstepping control (i.e., traditional and state augmented schemes). Moreover, the designed triggering mechanism is compared with different triggering conditions presented in the literature. The proposed control approach is further validated in a more realistic virtual robot experimentation platform (i.e., V-REP) using two SCORBOT-ER VPlus manipulators. From the TrueTime-based simulation runs, the proposed control scheme exhibits superior performance in tandem with efficient utilization of the network resources during the transportation task.

Keywords

cooperative manipulatorsdual-armadaptive controlhybrid controlbacksteppingevent-triggeredTrueTimeV-REP
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1951 - 1978
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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