Article
Version 1
Preserved in Portico This version is not peer-reviewed
Model-Based Adaptive Collaboration of Multi-Terminal Internal Force Tracking
Version 1
: Received: 18 May 2023 / Approved: 19 May 2023 / Online: 19 May 2023 (05:48:25 CEST)
A peer-reviewed article of this Preprint also exists.
Wang, Z.; Dai, J.; Song, F. Model-Based Adaptive Collaboration of Multi-Terminal Internal Force Tracking. Appl. Sci. 2023, 13, 8672. Wang, Z.; Dai, J.; Song, F. Model-Based Adaptive Collaboration of Multi-Terminal Internal Force Tracking. Appl. Sci. 2023, 13, 8672.
Abstract
This paper proposes a multi-terminal adaptive collaborative operation method to solve the problem of unstable internal force tracking in clamping and handling unknown objects by multi-terminal robots. In the proposed method, the internal command force changes the complex internal force control problem into an internal force tracking problem from multi-slave to master. Moreover, we develop an algorithm for multi-slave setups to estimate object stiffness and motion uncertainty in the direction of the internal command force according to Lyapunov theory. Finally, the impedance control generates a reference trajectory for the multi-slave to maintain the desired internal force and track the master’s motion. Several experiments are conducted on a self-made robot equipped. The experimental results show that the oscillation amplitude of each slave end is less than 1 mm, the directional oscillation amplitude is less than 1 degree during the tracking of the desired commanded internal force. For objects with low stiffness, the error of the commanded internal force is less than 1 N (6%) per slave. The error in tracking the commanded internal force for objects with high stiffness is less than 2 N (8%). The results prove the feasibility and effectiveness of the proposed method.
Keywords
multi-terminal; force tracking; Adaptive
Subject
Engineering, Control and Systems Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Comments (0)
We encourage comments and feedback from a broad range of readers. See criteria for comments and our Diversity statement.
Leave a public commentSend a private comment to the author(s)
* All users must log in before leaving a comment