Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space
Controlled Synchronization of Heterogeneous Robotic Manipulators in the Task Space
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DOI：
10.1109/tro.2011.2168690
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发表时间：
2012-02
影响因子：
7.8
通讯作者：
Yen‐Chen Liu;N. Chopra
中科院分区：
文献类型：
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作者：
Yen‐Chen Liu;N. Chopra
基于被动的控制已成为网络机器人系统同步的重要范例。尽管任务空间算法具有实际用途，但之前的结果主要集中在关节空间同步上，并且主要是针对运动学相同的机械臂得出的。因此，本文研究了（可能冗余的）异构机器人系统的任务空间同步问题。通过利用先前开发的基于无源性的同步结果，提出了一种自适应控制算法，以保证网络机器人操纵器在存在动态不确定性和时变通信延迟的情况下的任务空间同步。为了证明所提出框架的有效性，分别使用冗余和非冗余操纵器进行了数值模拟和实验。
Passivity-based control has emerged as an important paradigm for synchronization of networked robotic systems. Despite the practical utility of task-space algorithms, the previous results focused on joint-space synchronization and were primarily derived for kinematically identical manipulators. Hence, in this paper, the problem of task-space synchronization of (possibly redundant) heterogeneous robotic systems is studied. By exploiting passivity-based synchronization results that are developed previously, an adaptive control algorithm is proposed to guarantee task-space synchronization of networked robotic manipulators in the presence of dynamic uncertainties and time-varying communication delays. To demonstrate the efficacy of the proposed framework, numerical simulations and experiments are conducted with redundant and nonredundant manipulators, respectively.