Finite-time motion/force control for motion synchronization of multiple manipulators

Author

Cao Qianlei ; Li Shurong ; Zhao Dongya ; Wang Zhao

Author_Institution

Coll. of Inf. & Control Eng., China Univ. of Pet. (East China), Qingdao, China

fYear

2014

fDate

28-30 July 2014

Firstpage

2121

Lastpage

2126

Abstract

This paper presents a new design of finite-time motion and force control for motion synchronization of multiple manipulators. Considering that the end-effectors of the multiple manipulators are constrained by synchronization motion, a reduced form of the dynamic model of multiple manipulators is derived to decouple position and force signals. Then an adaptive motion/force control law based on terminal sliding mode control is designed to drive the system variables to reach and retain in the terminal sliding mode and converge to zero in finite time. Finally, numerical simulation results for multiple two-link manipulators illustrate the expected performance.

Keywords

adaptive control; control system synthesis; end effectors; force control; motion control; multi-robot systems; synchronisation; variable structure systems; adaptive motion-force control law; control design; end effectors; finite-time force control; finite-time motion control; motion synchronization; multiple two-link manipulators; synchronization motion; terminal sliding mode control; Force; Force control; Manipulator dynamics; Synchronization; Tracking; adaptive control; finite-time control; motion synchronization; motion/force control; multiple manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896959

Filename

6896959