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Cooperative Control of Dual-Manipulator System with Unknown Dynamic Parameters

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14273))

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Abstract

The precise control of the cooperative operation for dual-manipulator system has high requirements for the dynamic controller. In this paper, the cooperative control method of dual-manipulator system with unknown dynamic parameters and time-varying task space constraints is studied. Firstly, the dynamic model of manipulator in the task space coordinate system is established. Then, the radial basis function (RBF) neural networks are employed to construct the dynamic controller of dual-manipulator system with unknown model parameters for cooperative operation under relative trajectory constraints in task space. The simulation results verify the effectiveness of the controller.

Supported by organization Midea Group.

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Author information

Authors and Affiliations

  1. Blue-Orange Lab, Midea Group, Foshan, China

    Yuanyuan Li, Wenjing Wu & Wenjie Chen

  2. Midea Corporate Research Center, Midea Group, Foshan, China

    Yuanyuan Li, Wenjing Wu & Wenjie Chen

  3. Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, China

    Yuanyuan Li & Guilin Yang

Authors
  1. Yuanyuan Li
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  2. Guilin Yang
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  3. Wenjing Wu
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  4. Wenjie Chen
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Corresponding author

Correspondence to Wenjie Chen .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Li, Y., Yang, G., Wu, W., Chen, W. (2023). Cooperative Control of Dual-Manipulator System with Unknown Dynamic Parameters. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_38

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  • DOI: https://doi.org/10.1007/978-981-99-6498-7_38

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6497-0

  • Online ISBN: 978-981-99-6498-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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