Teleoperation control for bimanual robots based on RBFNN and wave variable

Xingjian Wang, Chenguang Yang, Junpei Zhong, Rongxin Cui, Min Wang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

Abstract

In this paper, a dual arm control method in a tele-operation system is introduced. For a bimanual robot, moving a common object precisely requires real-Time cooperation between the two arms. In such conditions the force interaction including the internal forces applied on the object must be taken into account. Therefore the dynamics models for master device, slave robot and the object are first analysed. Because the presence of the uncertainties in the dynamics model of the remote robot, a neural network method is used for compensation in the slave part. In order to guarantee the stability of the teleoperation system, the wave variable approach is employed in the communication part. Then the controllers in both the master and the slave part are designed based on their dynamics models. Then the tracking convergence and system stability are proven by the Lyapunov function. Several simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.

Original languageEnglish
Title of host publicationProceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781509065738
DOIs
Publication statusPublished - 21 Mar 2018
Externally publishedYes
Event9th International Conference on Modelling, Identification and Control, ICMIC 2017 - Kunming, China
Duration: 10 Jul 201712 Jul 2017

Publication series

NameProceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
Volume2018-March

Conference

Conference9th International Conference on Modelling, Identification and Control, ICMIC 2017
Country/TerritoryChina
CityKunming
Period10/07/1712/07/17

Keywords

  • Bimanual Robot
  • RBF NN
  • Teleoperation Control
  • Wave Variable

ASJC Scopus subject areas

  • Safety, Risk, Reliability and Quality
  • Mechanics of Materials
  • Control and Optimization
  • Energy Engineering and Power Technology
  • Biomedical Engineering
  • Computational Mechanics
  • Modelling and Simulation

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