This paper proposes a control framework for a cooperative robotic system to grasp and handle an object with known geometry in the presence of uncertainty in robot dynamics. Based on passive decomposition approach, dynamic equations of the cooperative robotic system are decomposed into two decoupled systems, shape and locked systems. The locked system and the shape system are controlled by two fuzzy sliding mode controllers (SMCs). Stability is studied through passivity property and Lyapunov theorem. Simulation results confirm that the proposed control scheme works well.
Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received October 26, 2018; final manuscript received January 24, 2019; published online February 27, 2019. Editor: Joseph Beaman.
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Farahmandrad, M., Ganjefar, S., Talebi, H. A., and Bayati, M. (February 27, 2019). "Fuzzy Sliding Mode Controller Design for a Cooperative Robotic System With Uncertainty for Handling an Object." ASME. J. Dyn. Sys., Meas., Control. June 2019; 141(6): 061010. https://doi.org/10.1115/1.4042742
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