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A new observer-based adaptive controller for cooperative handling of an unknown object

Published online by Cambridge University Press:  12 September 2014

Reza Monfaredi ,
S. Mehdi Rezaei  and
Ali Talebi
Reza Monfaredi*
Affiliation:
Mechanical Engineering Department and New Technology Research Center, University of Amirkabir, Tehran, Iran Children's National Medical Center, Washington DC, USA
S. Mehdi Rezaei
Affiliation:
Mechanical Engineering Department and New Technology Research Center, University of Amirkabir, Tehran, Iran
Ali Talebi
Affiliation:
Electrical Engineering Department and New Technology Research Center, University of Amirkabir, Tehran, Iran
*
*Corresponding author. E-mail: rmonfare@cnmc.org
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Summary

This paper presents a new observer-based adaptive controller for handling an object with unknown geometry, center of mass, and inertia using a cooperative robotic system. The cooperative robotic system comprises three Cartesian robots, where robots and the grasped object form a closed-loop kinematic chain. The unknown object is approximated by three virtual links of unknown lengths rigidly attached to one another at the object's center of mass (COM). Due to the unknown COM and unknown inertia of the object, the lengths and inertia of these virtual links are unknown, resulting in kinematic and dynamic uncertainties in the control system. A parameter estimator is proposed to estimate the object's COM to compensate for kinematic uncertainties of the system. Moreover, a new dynamic adaptation law is developed to cope with dynamic uncertainties of the object. The dynamic equations of the cooperative system are transformed from joint space into task space. These task space dynamics are transformed into object space by passively decomposing the dynamics into two decoupled systems, i.e. locked and shaped systems. An adaptive controller is developed for the locked system, and the shaped system is controlled by a composite controller based on a PD controller plus a stabilizing damping term. The stability of the proposed controllers is shown using the passivity concept and Lyapunov theorem. Simulation results show that the closed-loop position error asymptotically converges to zero. It is also shown that kinematic and dynamic adaptation parameters converge to real and bounded values respectively.

Keywords

Cooperative robotic systemUnknown objectDynamic uncertaintyKinematic uncertaintyObserver-based adaptive control
Type
Articles
Information
Robotica , Volume 34 , Issue 7 , July 2016 , pp. 1437 - 1463
Copyright
Copyright © Cambridge University Press 2014 

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