TY - GEN
T1 - Teleoperation control for bimanual robots based on RBFNN and wave variable
AU - Wang, Xingjian
AU - Yang, Chenguang
AU - Zhong, Junpei
AU - Cui, Rongxin
AU - Wang, Min
N1 - Funding Information:
This work was partially supported by National Nature Science Foundation (NSFC) under Grant 61473120, Guangdong Provincial Natural Science Foundation 2014A030313266 and International Science and Technology Collaboration Grant 2015A050502017, Science and Technology Planning Project of Guangzhou 201607010006, State Key Laboratory of Robotics and System (HIT) Grant SKLRS-2017-KF-13, and the Fundamental Research Funds for the Central Universities.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/3/21
Y1 - 2018/3/21
N2 - 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.
AB - 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.
KW - Bimanual Robot
KW - RBF NN
KW - Teleoperation Control
KW - Wave Variable
UR - http://www.scopus.com/inward/record.url?scp=85050629755&partnerID=8YFLogxK
U2 - 10.1109/ICMIC.2017.8321519
DO - 10.1109/ICMIC.2017.8321519
M3 - Conference article published in proceeding or book
AN - SCOPUS:85050629755
T3 - Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
SP - 1
EP - 6
BT - Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Modelling, Identification and Control, ICMIC 2017
Y2 - 10 July 2017 through 12 July 2017
ER -