TY - JOUR
T1 - Asymptotical stability contouring control of dual-arm robot with holonomic constraints
T2 - Modified distributed control framework
AU - Dong, Yunlong
AU - Nuchkrua, Thanana
AU - Shen, Tan
N1 - Publisher Copyright:
© The Institution of Engineering and Technology 2019
Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2019/11/26
Y1 - 2019/11/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85073871777&partnerID=8YFLogxK
U2 - 10.1049/iet-cta.2018.6178
DO - 10.1049/iet-cta.2018.6178
M3 - 文章
AN - SCOPUS:85073871777
VL - 13
SP - 2877
EP - 2885
JO - IET Control Theory and Applications
JF - IET Control Theory and Applications
SN - 1751-8644
IS - 17
ER -