Title :
Adaptive control of two robot arms carrying an unknown object
Author :
Pagilla, Prabhakar R. ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
We deal with the control of two robot manipulators carrying an unknown object. We consider the uncertainties in mass, inertia and center of mass of the object. A dynamic model is obtained for the combined system. An adaptive scheme is proposed to track the desired motion trajectory of the object in the presence of uncertainties. A feedforward plus PI type force controller is designed for internal force control. A Lyapunov based stability analysis is conducted for the proposed scheme. In the adaptive motion control scheme for the combined system we cannot specify the individual torques of the manipulators uniquely. To obtain a set of individual torques an optimal control problem is formulated by minimizing a cost function
Keywords :
Lyapunov methods; adaptive control; feedforward; force control; manipulator dynamics; manipulator kinematics; motion control; optimal control; stability; two-term control; Lyapunov method; PI control; adaptive control; cost function; dynamic model; feedforward; internal force control; manipulators; motion control; motion trajectory tracking; optimal control; robot arms; stability; unknown object handling; Adaptive control; Adaptive systems; Force control; Manipulator dynamics; Programmable control; Robot control; Stability analysis; Tracking; Trajectory; Uncertainty;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525349
