Abstract
A new design of a robust impedance controller for constrained robotic manipulators is presented. The main objective is to stabilize asymptotically, in the task space, the robotic manipulator's end ...
Highlights
A state/parameter observer and an acceleration estimator are proposed to handle the problems of force estimation, disturbance rejection and acceleration measurement
Control of constrained robotic manipulators that are subject to uncertainties is currently considered to be one of the most challenging problems in the field of robotics [1]
Based on the lack of results within this framework, the most important contribution of this paper is its proposal of a new design for a Particle Swarm Optimization (PSO)-robust controller of constrained robotic systems with model uncertainties and measurement noise
Summary
Control of constrained robotic manipulators that are subject to uncertainties is currently considered to be one of the most challenging problems in the field of robotics [1]. Uncertainties can include the environment model [2,3,4,5], the robotic model [6] or both [7, 8] To solve such complex problems, there is an increasing requirement for robust asymptotic stability of the nonlinear system, taking account of coupling effects between multiple joints and considering position/force interaction between the manipulator and the constrained environment. The difficult problem of position/force control of constrain‐ ed robotic manipulators was discussed, without consider‐ ing such uncertainties, in several books [9, 10] and survey papers [11,12,13,14,15], in which different solutions are provided. Based on the lack of results within this framework, the most important contribution of this paper is its proposal of a new design for a PSO-robust controller of constrained robotic systems with model uncertainties and measurement noise. The robust asymp‐ totic stability conditions, using the Lyapunov-Hamiltoni‐
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