{"title":"未知动力学下机械臂机器人系统的协同控制","authors":"E. Mehrabi, H. Talebi, M. Zarei-nejad, I. Sharifi","doi":"10.1109/ICAR.2015.7251487","DOIUrl":null,"url":null,"abstract":"Cooperative control of manipulator robotic systems to grasp and handle an object is studied in this paper. Based on the passive decomposition approach, the cooperative system is decomposed into decoupled shaped and locked systems. Then, regressor free adaptive control laws for the decoupled shaped and locked systems are proposed. Despite existing shaped and locked approaches in the literature, the proposed approach guarantees the passivity of the closed loop system when the robots dynamics are unknown. Simulation results verify the accuracy of the proposed control scheme.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Cooperative control of manipulator robotic systems with unknown dynamics\",\"authors\":\"E. Mehrabi, H. Talebi, M. Zarei-nejad, I. Sharifi\",\"doi\":\"10.1109/ICAR.2015.7251487\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Cooperative control of manipulator robotic systems to grasp and handle an object is studied in this paper. Based on the passive decomposition approach, the cooperative system is decomposed into decoupled shaped and locked systems. Then, regressor free adaptive control laws for the decoupled shaped and locked systems are proposed. Despite existing shaped and locked approaches in the literature, the proposed approach guarantees the passivity of the closed loop system when the robots dynamics are unknown. Simulation results verify the accuracy of the proposed control scheme.\",\"PeriodicalId\":432004,\"journal\":{\"name\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 International Conference on Advanced Robotics (ICAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICAR.2015.7251487\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2015.7251487","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Cooperative control of manipulator robotic systems with unknown dynamics
Cooperative control of manipulator robotic systems to grasp and handle an object is studied in this paper. Based on the passive decomposition approach, the cooperative system is decomposed into decoupled shaped and locked systems. Then, regressor free adaptive control laws for the decoupled shaped and locked systems are proposed. Despite existing shaped and locked approaches in the literature, the proposed approach guarantees the passivity of the closed loop system when the robots dynamics are unknown. Simulation results verify the accuracy of the proposed control scheme.
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