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Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision
Abstract
Robots with coordinated dual arms are able to perform more complicated tasks that a single manipulator could hardly achieve. However, more rigorous motion precision is required to guarantee effective cooperation between the dual arms, especially when they grasp a common object. In this case, the internal forces applied on the object must also be considered in addition to the external forces. Therefore, a prescribed tracking performance at both transient and steady states is first specified, and then, a controller is synthesized to rigorously guarantee the specified motion performance. In the presence of unknown dynamics of both the robot arms and the manipulated object, the neural network approximation technique is employed to compensate for uncertainties. In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is integrated into the control design. Effectiveness of the proposed control design has been shown through experiments carried out on the Baxter Robot.
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Cited by
Yang, C., Jiang, Y., Na, J., Li, Z., Cheng, L., & Su, C.-Y. (2019) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2018.2864940 · Cited by 334
Self-citationAdaptive Neural Network Control of a Flapping Wing Micro Aerial Vehicle With Disturbance Observer
He, W., Yan, Z., Sun, C., & Chen, Y. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2720801 · Cited by 328
Self-citationAdaptive Neural Control of Underactuated Surface Vessels With Prescribed Performance Guarantees
Dai, S.-L., He, S., Wang, M., & Yuan, C. (2019) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2018.2876685 · Cited by 320
Robot manipulator control using neural networks: A survey
Jin, L., Li, S., Yu, J., & He, J. (2018) · Neurocomputing · doi:10.1016/j.neucom.2018.01.002 · Cited by 313
Cao, S., Sun, L., Jiang, J., & Zuo, Z. (2023) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2021.3116713 · Cited by 221
Metadata
- Authors
- Yang, C., Jiang, Y., Li, Z., He, W., & Su, C.-Y.
- Venue
- IEEE Transactions on Industrial Informatics
- Published
- 2017-06
- Volume
- 13
- Issue
- 3
- Pages
- 1162-1171
- ISSN
- 1551-3203 (ISSN-L)
- 1941-0050
- OpenAlex
- W2521872058
- Cited by
- 397
- References
- 0
- FWCI
- 62.29
- Type
- journal article
- Language
- en
- Open access
- closed
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- Yang, C., Jiang, Y., Li, Z., He, W., & Su, C.-Y. (2017). Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision. IEEE Transactions on Industrial Informatics. https://doi.org/10.1109/tii.2016.2612646
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