Open AccessAsymptotical stability contouring control of dual‐arm robot with holonomic constraints: modified distributed control framework
Author(s) -
Dong Yunlong,
Nuchkrua Thanana,
Shen Tan
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.6178
Subject(s) - contouring , control theory (sociology) , holonomic , robot , holonomic constraints , computer science , dual (grammatical number) , robotic arm , robot control , control (management) , artificial intelligence , mobile robot , art , physics , computer graphics (images) , literature , classical mechanics
The authors analyse the contour error dynamics in contouring control of dual‐arm robotic manipulators with holonomic constraints. With the modified dynamics of robot, the dynamics of dual‐arm robot with holonomic constraints is symetrically transformed into dynamics error problem by considering the equivalent error method. It becomes the control problem of stabilisation such that it is suitable for robust control approach to improve control performance in terms of contouring control, i.e. contour accuracy with high speed. The proposed method can deal with both analytic and non‐analytic functions of desired path in task space. The experimental results reveal that the proposed method yields excellent performance in comparison to conventional distributed control. As a result, the proposed method can lead to the development of a modified distributed control for high degree of freedom robot manipulators.