Asymptotical stability contouring control of dual-arm robot with holonomic constraints: Modified distributed control framework

Yunlong Dong, Thanana Nuchkrua, Tan Shen*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

Abstract

The authors analyse the contour error dynamics in contouring control of dual-arm robotic manipulators with holonomic constraints. With the modified dynamics of robot, the dynamics of dual-arm robot with holonomic constraints is symetrically transformed into dynamics error problem by considering the equivalent error method. It becomes the control problem of stabilisation such that it is suitable for robust control approach to improve control performance in terms of contouring control, i.e. contour accuracy with high speed. The proposed method can deal with both analytic and non-analytic functions of desired path in task space. The experimental results reveal that the proposed method yields excellent performance in comparison to conventional distributed control. As a result, the proposed method can lead to the development of a modified distributed control for high degree of freedom robot manipulators.

Original languageEnglish
Pages (from-to)2877-2885
Number of pages9
JournalIET Control Theory and Applications
Volume13
Issue number17
DOIs
StatePublished - 26 Nov 2019
Externally publishedYes

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