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Adaptive Dynamic Coupling Control of Hybrid Joints of Human-Symbiotic Wheeled Mobile Manipulators with Unmodelled Dynamics

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Abstract

In this paper, adaptive dynamic coupling control is considered for hybrid joints, which could be switched to either active (actuated) or passive (under-actuated) mode, for human-symbiotic wheeled mobile manipulators with unmodelled dynamics. This social robot can be used in the house, the office, etc, which can flexibly interact with the human and would not injure the people. The constraints for such social robots consist of kinematic constraints and dynamic constraints. Based on Lyapunov synthesis, adaptive coupling control using physical properties of mobile social robot is proposed for passive hybrid joints, which ensures that the system outputs track the given bounded reference signals within a small neighborhood of zero, and guarantee semi-global uniform boundedness of all closed loop signals. The effectiveness of the proposed controls is verified through extensive simulations.

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, Shanghai, China

    Zhijun Li, Yipeng Yang & Shiping Wang

Authors
  1. Zhijun Li
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  2. Yipeng Yang
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  3. Shiping Wang
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Corresponding author

Correspondence to Zhijun Li.

Additional information

This work is supported by Shanghai Pujiang Program under grant No. 08PJ1407000 and Natural Science Foundation of China under Grant Nos. 60804003 and 60935001, and New Faculty Foundation under Grant No. 200802481003.

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Li, Z., Yang, Y. & Wang, S. Adaptive Dynamic Coupling Control of Hybrid Joints of Human-Symbiotic Wheeled Mobile Manipulators with Unmodelled Dynamics. Int J of Soc Robotics 2, 109–120 (2010). https://doi.org/10.1007/s12369-010-0049-8

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  • DOI: https://doi.org/10.1007/s12369-010-0049-8

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