Adaptive neural controller for cooperative multiple robot manipulator system manipulating a single rigid object

Applied Soft Computing Journal

Volumn 12, Issue 1, 2012, Pages 216-227

  Panwar, Vikas ^a   Kumar, Naveen ^b   Sukavanam, N ^c   Borm, Jin Hwan ^b  

^a DEFENCE INSTITUTE OF ADVANCED TECHNOLOGY   (India)

^b Ajou University   (South Korea)

^c INDIAN INSTITUTE OF TECHNOLOGY ROORKEE   (India)

Author keywords

Adaptive learning; Coordinated multiple robot manipulator system; Feedforward neural network; Lyapunov stability analysis

Indexed keywords

ADAPTIVE LEARNING; ADAPTIVE LEARNING ALGORITHM; ADAPTIVE LEARNING PROCESS; ADAPTIVE NEURAL CONTROLLERS; CIRCULAR DISCS; COORDINATED MANIPULATION; COORDINATED MULTIPLE ROBOT MANIPULATOR SYSTEM; ERROR CONVERGENCE; FEED-FORWARD; INTERNAL FORCES; LYAPUNOV STABILITY ANALYSIS; MULTIPLE ROBOT; OBJECT MOTION; OBJECT POSITIONS; OFF-LINE LEARNING; PLANAR MANIPULATOR; RIGID OBJECTS; ROBOT MANIPULATOR; SIMULATION STUDIES; SIMULTANEOUS CONTROL; SINGLE OBJECT; TRAJECTORY TRACKING;

ADAPTIVE ALGORITHMS; CLOSED LOOP SYSTEMS; CONTROLLERS; FEEDFORWARD NEURAL NETWORKS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; LEARNING ALGORITHMS; MODULAR ROBOTS; ROBOT APPLICATIONS;

ADAPTIVE CONTROL SYSTEMS;

EID: 81155148255     PISSN: 15684946     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.asoc.2011.08.051     Document Type: Article

References (28)

1. Alford C.O., and Belyeu S.M. Coordinated control of two robot arms Proceedings of the IEEE Int. Conf. Robotics and Automation 1984 468 473
2. Arimoto S., Miyazaki F., and Kawamura S. Cooperative motion control of multiple robot arms or fingers Proceedings of the IEEE Int. Conf. Robotics and Automation 1987 1407 1412 (Pubitemid 17595611)
3. Hayati S. Hybrid position/force control of multi-arm cooperating robots Proceedings of the IEEE Int. Conf. Robotics and Automation 1986 82 89 (Pubitemid 16616127)
4. Tarn T., Bejczy A., and Yun X. Design of dynamic control of two cooperating robot arms: closed chain formulation Proceedings of the IEEE Int. Conf. Robotics and Automation 1987 7 13 (Pubitemid 17595815)
5. Uchiyama M., and Dauchez P. A symmetric hybrid position/force control scheme for the coordination of two robots Proceedings of the IEEE Int. Conf. Robotics and Automation 1988 350 356 (Pubitemid 18667110)
6. Ping H. Coordinated control of multiple manipulator systems IEEE Transactions on Robotics and Automation 9 4 1993 400 410
7. Yun X., and Kumar V. An approach to simultaneous control of trajectory and interaction forces in dual-arm configurations IEEE Transactions on Robotics and Automation 7 5 1991 618 625 (Pubitemid 23563874)
8. Ning X., Tarn T.J., and Bejczy A.K. Intelligent planning and control for multirobot coordination: an event-based approach IEEE Transactions on Robotics and Automation 12 3 1996 439 452 (Pubitemid 126774411)
9. Yan-Ru H., and Goldberg A.A. An adaptive approach to motion and force control of multiple coordinated robot arms Proceedings of the IEEE Int. Conf. Robotics and Automation 1989 1091 1096
10. Walker M., Kim D., and Dionise J. Adaptive coordinated motion control of two manipulator arms Proceedings of the IEEE Int. Conf. Robotics and Automation 1989 1084 1090
11. Yao B., Gao W.B., Chan S.P., and Cheng M. Vsc coordinated control of two manipulator arms in the presence of environmental constraints IEEE Transactions on Automatic Control 37 11 1992 1806 1812
12. J. Jean, and L. Fu An adaptive control scheme for coordinated multimanipulator Systems IEEE Transactions on Robotics and Automation 9 1993 226 231
13. Gueaieba W., Sharhanb S., and Bolica M. Robust computationally efficient control of cooperative closed-chain manipulators with uncertain dynamics Automatica 43 2007 842 851
14. Tavasoli A., Eghtesad M., and Jafarian H. Two-time scale control and observer design for trajectory tracking of two cooperating robot manipulators moving a flexible beam Robotics and Autonomous Systems 57 2009 212 221
15. Hong Z.W., and Schutter J. Control of two industrial manipulators rigidly holding an egg IEEE Control System Magazine 19 2 1999 24 30
16. Namvar M., and Aghili F. Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments IEEE Transactions on Robotics 21 4 2005 678 694 (Pubitemid 41226897)
17. Lewis F., Jagannathan S., and Yesildirek A. Neural Network Control of Robot Manipulators and Non-Linear Systems 1999 Taylor and Francis
18. Lewis F., Yesildirek A., and Liu K. Multilayer neural-net robot controller with guaranteed tracking performance IEEE Transactions on Neural Networks 7 2 1996 388 399 (Pubitemid 126774431)
19. Wai R. Tracking control based on neural network strategy for robot manipulator Neurocomputing 51 2003 425 445 (Pubitemid 36367247)
20. Karayiannidis Y., Rovithakis G., and Doulgeri Z. Force/position tracking for a robotic manipulator in compliant contact with a surface using neuro-adaptive control Automatica 43 2007 1281 1288 (Pubitemid 46802435)
21. Cheng L., Hou Z., and Tan M. Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model Automatica 45 2009 2312 2318
22. Hou Z., Cheng L., and Tan M. Coordination of two redundant robots using a dual neural network Proceedings of the International Joint Conference on Neural Network 2006 4187 4192 (Pubitemid 351369892)
23. Kumar N., Panwar V., and Sukavanam N. Neural network control of coordinated multiple manipulator systems Proceedings of the Int. Conf. Computing: Theory Application 2007 250 256 (Pubitemid 47133621)
24. ∞ control for fully actuated and underactuated cooperative manipulators Control Engineering Practice 17 2009 418 425
25. Kawasaki H., Ito S., and Ramli R. Adaptive decentralized coordinated control of multiple robot arms Proceedings of the 7th IFAC Symposium Robot Control 2003 461 466
26. Hornic K., Stinchcombe M., and Whitw H. Multilayer feedforward networks are universal approximators Neural Networks 2 1989 359 369
27. V. Panwar, Design analysis and simulation of neural network controllers for nonlinear systems, Ph.D. Thesis, Dept. Math. IIT Roorkee, 2005.
28. Slotine J., and Li W. Applied Nonlinear Control 1991 Prentice Hall NJ