Neuro-adaptive motion control with velocity observer in operational space formulation

Robotics and Computer-Integrated Manufacturing

Volumn 27, Issue 4, 2011, Pages 829-842

  Soewandito, Dandy B ^a   Oetomo, Denny ^b   Ang Jr , Marcelo H ^a  

^a NATIONAL UNIVERSITY OF SINGAPORE   (Singapore)

^b UNIVERSITY OF MELBOURNE   (Australia)

Author keywords

Adaptive control; Neural network; Operational space formulation; Robotics manipulator; Velocity observer

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE CONTROL STRATEGY; ADAPTIVE MOTION CONTROL; ADAPTIVE STRATEGY; BACKWARD DIFFERENCE; CONTROL LAWS; DEGREES OF FREEDOM; DISPLACEMENT SENSOR; EXPERIMENTAL PLATFORM; FILTERED VELOCITY; GENERALIZED FORCE; IDENTIFICATION PROCEDURE; JOINT VELOCITY; OPERATIONAL SPACE FORMULATION; POSITION FEEDBACK; PRIOR KNOWLEDGE; RATE SENSORS; REAL-TIME EXPERIMENT; ROBOT DYNAMICS; STABILITY ANALYSIS; TASK SPACE; VELOCITY OBSERVER; VELOCITY OBSERVERS;

ALGORITHMS; CONTROL THEORY; CONTROLLERS; DYNAMICS; EXPERIMENTS; INDUSTRIAL ROBOTS; MANIPULATORS; MOTION CONTROL; NEURAL NETWORKS; ROBOTICS; SENSORS; VELOCITY;

ADAPTIVE CONTROL SYSTEMS;

EID: 79955667317     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2011.01.004     Document Type: Conference Paper

References (62)

1. Armstrong B, Khatib O, Burdick J. The explicit dynamic model and inertial parameters of the PUMA 560 arm. In: Proceedings of IEEE international conference on robotics and automation, San Francisco, CA, USA, April 710, 1986. p. 5108. (Pubitemid 16616193)
2. Jamisola Jr RS, Ang Jr MH, Lim TM, Khatib O, Lim SY. Dynamics identification and control of an industrial robot. In: Proceedings of ninth international conference on advanced robotics, Tokyo, Japan, October 2527, 1999. p. 3238.
3. An CH, Atkeson CG, Hollerbach JM. Estimation of inertial parameters of rigid body links of manipulators. In: Proceedings of 24th IEEE conference on decision and control, vol. 24, issue 1, December 1985. p. 9905.
4. Gautier M. Identification of robots dynamics. In: Proceedings of IFAC symposium on theory of robots, Vienne, 1986. p. 3516.
5. Khosla PK, Kanade T. Parameter identification of robot dynamics. In: International IEEE conference on decision and control, vol. 24, issue 1, December 1985. p. 175460.
6. Khosla PK. Estimation of robot dynamics parameters: theory and application. Robotics Institute, Pittsburgh, PA, Technical Report CMU-RI-TR-87-08, March 1987.
7. F. Caccavale, and P. Chiacchio Identification of dynamic parameters and feedforward control for a conventional industrial manipulator Control Eng Pract 2 6 1994 1039 1050
8. G. Antonelli, F. Caccavale, and P. Chiacchio A systematic procedure for the identification of dynamic parameters of robot manipulators Robotica 17 4 1999 427 435
9. Khalil W, Gautier M, Lemoine P. Identification of the payload inertial parameters of industrial manipulators. In: Proceedings of IEEE international conference on robotics and automation, Kobe, Japan, April 1014, 2007. p. 49438. (Pubitemid 350140953)
10. Craig JJ, Hsu P, Sastry SS. Adaptive control of mechanical manipulators. In: Proceedings of IEEE international conference on robotics and automation, San Francisco, CA, April 710, 1986. p. 1905.
11. R.H. Middleton, and G.C. Goodwin Adaptive computed torque control for rigid link manipulators Syst Control Lett 10 1 1988 9 16 (Pubitemid 18551781)
12. Ortega R, Spong M. Adaptive motion control of rigid robots: a tutorial. In: Proceedings of IEEE conference on decision and control, vol. 2, Austin, TX, USA, December 79, 1988. p. 157684.
13. J.-J.E. Slotine, and W. Li On the adaptive control of robot manipulators Int J Robot Res 6 3 Fall 1987 49 59
14. Slotine JJE, Li W. Adaptive robot control: a new perspective. In: Proceedings of the 26th IEEE conference on decision and control, vol. 26, issue 1, December 1987. p. 1928. (Pubitemid 18613673)
15. Bompos NA, Artemiadis PK, Oikonomopoulos AS, Kyriakopoulos KJ. Modeling, full identification and control of the mitsubishi PA-10 robot arm. In: IEEE/ASME international conference on advanced intelligent mechatronics (AIM2007), September 47, 2007. p. 16.
16. J. Swevers, W. Verdonck, and J. De Schutter Dynamic model identification for industrial robots IEEE Control Syst Mag 27 5 2007 58 71 (Pubitemid 47542669)
17. Vuong ND, Ang Jr MH, Li Y. Dynamic model identification for industrial manipulator subject to advanced model based control. In: Proceedings of fourth conference on HNICEM, Manila, Philippines, March 1216, 2009.
18. La Hera PM, Mettin U, Westerberg S, Shiriaev AS. Modeling and control of hydraulic rotary actuators used in forestry cranes. In: Proceedings of IEEE international conference on robotics and automation, Kobe, Japan, May 1217, 2009. p. 131520.
19. Khalil W, Kleinfinger J-F, Gautier M. Reducing the computational burden of the dynamic models of robots. In: Proceedings of IEEE international conference on robotics and automation, vol. 3, April 1986. p. 52531. (Pubitemid 16616195)
20. W. Khalil, and J.-F. Kleinfinger Minimum operations and minimum parameters of the dynamic models of tree structure robots IEEE J Robot Autom RA-3 6 1987 517 526 (Pubitemid 18596040)
21. Gautier M, Khalil W. A direct determination of minimum inertial parameters of robots. In: Proceedings of IEEE international conference on robotics and automation, vol. 3, April 2429, 1988. p. 36873.
22. Gautier M, Khalil W. Direct calculation of minimum set of inertial parameters of serial robots. In: Proceedings of IEEE international conference on robotics and automation, vol. 6, issue 3, June 1990. p. 36873. (Pubitemid 20725014)
23. W. Khalil, and F. Bennis Symbolic calculation of the base inertial parameters of closed-loop robots Int J Robot Res 14 2 1995 112 128
24. W. Khalil, and E. Dombre Modeling, identification and control of robots 3rd ed. 2002 Hermes Penton Science London
25. Hsu P, Bodson M, Sastry S, Paden B. Adaptive identification and control for manipulators without using joint accelerations. In: Proceedings of IEEE international conference on robotics and automation, vol. 4, March 1987. p. 12105. (Pubitemid 17595641)
26. Z. Lu, K.B. Shimoga, and A.A. Goldenberg Experimental determination of dynamic parameters of robotic arms J Robot Syst 10 8 1993 1009 1029
27. Gautier M, Khalil W. An efficient algorithm for the calculation of the filtered dynamic model of robots. In: Proceedings of IEEE international conference on robotics and automation, vol. 1, April 2228, 1996. p. 3238.
28. Gautier M, Janot A, Vandanjon PO. Didim: a new method for the dynamic identification of robots from only torque data. In: Proceedings of IEEE international conference on robotics and automation, Kobe, Japan, May 1923, 2008. p. 21227.
29. Janot A, Vandanjon PO, Gautier M. Identification of robots dynamics with the instrumental variable method. In: Proceedings of IEEE international conference on robotics and automation, Kobe, Japan, May 1217, 2009. p. 17627.
30. Gautier M, Khalil W. Exciting trajectories for the identification of base inertial parameters of robots. In: Proceedings of 30th IEEE conference on decision and control, vol. 1, December 1113, 1991. p. 4949.
31. Gautier M. Optimal motion planning for robot's inertial parameters identification. In: Proceedings of 31st IEEE conference on decision and control. vol. 1, December 1618, 1992. p. 703.
32. Presse C, Gautier M. New criteria of exciting trajectories for robot identification. In: Proceedings of IEEE international conference on robotics and automation, vol. 3, May 26, 1992. p. 90712.
33. M.M. Olsen, J. Swevers, and W. Verdonck Maximum likelihood identification of a dynamic robot model: implementation issues Int J Robot Res 21 2 2002 89 96
34. O. Khatib A unified approach for motion and force control of robot manipulators: the operational space formulation IEEE J Robot Autom RA-3 1 1987 43 53 (Pubitemid 17548950)
35. L. Sciavicco, and B. Siciliano Modelling and control of robot manipulators 2nd ed 2000 Springer-Verlag London
36. Sanner RM, Slotine J-JE. Stable adaptive control and recursive identification using radial Gaussian networks. In: Proceedings of the 30th IEEE conference on decision and control, vol. 3, December 1113, 1991. p. 211623.
37. G.A. Rovithakis, and M.A. Christodoulou Neural network controller characteristics with regard to adaptive control IEEE Trans Syst Man Cybern 24 3 1994 400 412
38. Ge SS, Wang Z-L, Chen Z-J. Adaptive static neural network control of robots. In: Proceedings of the IEEE conference on industrial technology, vol. 3, December 59 1994. p. 2404.
39. F.L. Lewis, K. Liu, and A. Yeildirek Neural net robot controller with guaranteed tracking performance IEEE Trans Neural Netw 6 3 1995 703 715
40. F.L. Lewis, A. Yeildirek, and K. Liu Multilayer neural-net robot controller with guaranteed tracking performance IEEE Trans Neural Netw 7 2 1996 388 399 (Pubitemid 126774431)
41. F.L. Lewis, S. Jagannathan, and A. Yeildirek Neural network control of robot manipulators and nonlinear systems 1st ed. 1998 Taylor and Francis Philadelphia, PA
42. Hu S, Ang Jr MH, Krishnan H. Neural network controller for constrained robot manipulators. In: Proceedings of IEEE international conference on robotics and automation, vol. 2, San Francisco, CA, May 2000. p. 190611.
43. Kwan CM, Yeildirek A, Lewis FL. Robust force/motion control of constrained robots using neural network. In: Proceedings of 33rd IEEE conference on decision and control 1994, vol. 2, Lake Buena Vista, Florida, USA, December 1416, 1994. p. 18627.
44. Cheah CC, Zhao Y, Slotine J-JE. Adaptive Jacobian motion and force tracking control for constrained robots with uncertainties. In: Proceedings of IEEE international conference on robotics and automation, Orlando, FL, USA, May 1519, 2006. p. 222631. (Pubitemid 44940397)
45. N.H. McClamroch, and D. Wang Feedback stabilization and tracking of constrained robots IEEE Trans Autom Control AC-33 5 1988 419 426 (Pubitemid 18639057)
46. Doulgeri Z, Karayiannidis Y. An adaptive force regulator for a robot in compliant contact with an unknown surface. In: Proceedings of IEEE international conference on robotics and automation, Barcelona, Spain, April 1822, 2005. p. 268590. (Pubitemid 46084194)
47. Karayiannidis Y, Doulgeri Z. An adaptive law for slope identification and force position regulation using motion variables. In: Proceedings of IEEE international conference on robotics and automation, Orlando, FL, May 1519 2006. p. 353843. (Pubitemid 44940605)
48. Karayiannidis Y, Rovithakis G, Doulgeri Z. A neuro-adaptive controller for the force/position tracking of a robot manipulator under model uncertainties in compliance and friction. In: 14th mediterranean conference on control and automation, 2006. p. 16.
49. Y. Karayiannidis, G. Rovithakis, and Z. Doulgeri Force/position tracking for robotic manipulator in compliant contact with a surface using neuro-adaptive control Automatica 43 7 2007 1281 1288 (Pubitemid 46802435)
50. Zhao Y, Cheah CC, Slotine J-JE. Adaptive vision and force tracking control of constrained robots with structural uncertainties. In: Proceedings of IEEE international conference on robotics and automation, Roma, Italy, April 1014, 2007. p. 234954.
51. Soewandito DB, Oetomo DN, Ang Jr MH. The operational space formulation with neural-network adaptive motion control. In: Proceedings of international federation of automatic control (IFAC) world congress 2008, Seoul, Korea, July 611, 2008. p. 1277580.
52. Xia QH, Lim SY, Ang Jr MH, Lim TM. Adaptive joint friction compensation using a model-based operational space velocity observer. In: Proceedings of IEEE international conference on robotics and automation, vol. 3, New Orleans, LA, USA, April 26May 1, 2004. p. 30816.
53. J.-J.E. Slotine, and W. Li Applied nonlinear control 1st ed. 1991 Prentice-Hall Englewood Cliffs, NJ
54. S. Nicosia, and P. Tomei Robot control by using only joint position measurements IEEE Trans Autom Control AC-35 9 1990 1058 1061
55. Xia QH, Lim SY, Ang Jr MH, Lim TM. An operational space observer-controller for trajectory tracking. Technical Report SIMTech AT/02/014/PM, 2002.
56. Slotine J-JE, Li W. Adaptive manipulator control: parameter convergence and task-space strategies. In: Proceedings of American control conference, June 1012, 1987. p. 82835. (Pubitemid 18523268)
57. F.L. Lewis, C.T. Abdallah, and D.M. Dawson Control of robot manipulators 1st ed 1993 Macmillan New York
58. H. Berghuis, and H. Nijmeijer A passivity approach to controller-observer design for robots IEEE Trans Robot Autom 9 6 1993 740 754
59. S.S. Ge, T.H. Lee, and C.J. Harris Adaptive neural network control of robotic manipulators 1998 World Scientific River Edge, NJ
60. Werbos PJ. Backpropagation: past and future. In: Proceedings of IEEE international conference on neural networks, vol. 1, San Diego, CA, USA, July 2427, 1988. p. 34353.
61. G.V. Cybenko Approximation by superpositions of a sigmoidal function Math Control Signals Syst 2 4 1989 303 314
62. J.P. LaSalle Some extensions of Liapunov's second method IRE Trans Circuit Theory 7 4 1960 520 527