Abstract:
The impedance control for coordinated robots interacting with the unknown environment is investigated in this article, subject to unknown system dynamics and the environm...Show MoreMetadata
Abstract:
The impedance control for coordinated robots interacting with the unknown environment is investigated in this article, subject to unknown system dynamics and the environment with which coordinated robots come into contact. For the whole system, impedance control is developed for coordinated robots. The notable feature is that the robot-environment interaction performance is improved without any information about the environment, so that the robotic system follows the commanded position trajectory in noncontact phase, while the desired destination is obtained according to the force exerted on the environment during contact phase. Moreover, based on assumption that some system signals are unmeasurable, output feedback control is designed for coordinated robot systems, where a state observer based on neural network technique is designed, that can force the state estimate error converge to a small neighborhood of zero. Simulation results are provided to demonstrate the effectiveness of the proposed control algorithm.
Published in: IEEE Transactions on Systems, Man, and Cybernetics: Systems ( Volume: 51, Issue: 8, August 2021)