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Research Papers

On Operational Space Tracking Control of Robotic Manipulators With Uncertain Dynamic and Kinematic Terms

[+] Author and Article Information
Kamil Cetin

Department of Electrical and
Electronics Engineering,
Izmir Institute of Technology,
Urla 35430, Izmir, Turkey
e-mail: kamilcetin@iyte.edu.tr

Enver Tatlicioglu

Department of Electrical and
Electronics Engineering,
Izmir Institute of Technology,
Urla 35430, Izmir, Turkey
e-mail: enver@iyte.edu.tr

Erkan Zergeroglu

Department of Computer Engineering,
Gebze Technical University,
Gebze 41400, Kocaeli, Turkey
e-mail: ezerger@gtu.edu.tr

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received March 21, 2017; final manuscript received July 23, 2018; published online August 20, 2018. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 141(1), 011001 (Aug 20, 2018) (7 pages) Paper No: DS-17-1160; doi: 10.1115/1.4041008 History: Received March 21, 2017; Revised July 23, 2018

In this study, a continuous robust-adaptive operational space controller that ensures asymptotic end-effector tracking, despite the uncertainties in robot dynamics and on the velocity level kinematics of the robot, is proposed. Specifically, a smooth robust controller is applied to compensate the parametric uncertainties related to the robot dynamics while an adaptive update algorithm is used to deal with the kinematic uncertainties. Rather than formulating the tracking problem in the joint space, as most of the previous works on the field have done, the controller formulation is presented in the operational space of the robot where the actual task is performed. Additionally, the robust part of the proposed controller is continuous ensuring the asymptotic tracking and relatively smooth controller effort. The stability of the overall system and boundedness of the closed loop signals are ensured via Lyapunov based arguments. Experimental results are presented to illustrate the feasibility and performance of the proposed method.

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Figures

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Fig. 1

PHANToM Omni haptic device

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Fig. 2

The block diagram of the closed-loop system

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Fig. 3

Operational space tracking error e(t)

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Fig. 4

Desired and actual operational space trajectories

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Fig. 5

The control input torque τ(t)

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Fig. 6

Estimates of uncertain parameters ϕ̂j(t)

Tables

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