Paper Reading AI Learner

Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics

2022-08-18 14:47:48
Udayan Banerjee, Bhabani Shankar Dey, Indra Narayan Kar, Subir Kumar Saha

Abstract

In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition.

Abstract (translated)

URL

https://arxiv.org/abs/2208.08873

PDF

https://arxiv.org/pdf/2208.08873.pdf


Tags
3D Action Action_Localization Action_Recognition Activity Adversarial Agent Attention Autonomous Bert Boundary_Detection Caption Chat Classification CNN Compressive_Sensing Contour Contrastive_Learning Deep_Learning Denoising Detection Dialog Diffusion Drone Dynamic_Memory_Network Edge_Detection Embedding Embodied Emotion Enhancement Face Face_Detection Face_Recognition Facial_Landmark Few-Shot Gait_Recognition GAN Gaze_Estimation Gesture Gradient_Descent Handwriting Human_Parsing Image_Caption Image_Classification Image_Compression Image_Enhancement Image_Generation Image_Matting Image_Retrieval Inference Inpainting Intelligent_Chip Knowledge Knowledge_Graph Language_Model Matching Medical Memory_Networks Multi_Modal Multi_Task NAS NMT Object_Detection Object_Tracking OCR Ontology Optical_Character Optical_Flow Optimization Person_Re-identification Point_Cloud Portrait_Generation Pose Pose_Estimation Prediction QA Quantitative Quantitative_Finance Quantization Re-identification Recognition Recommendation Reconstruction Regularization Reinforcement_Learning Relation Relation_Extraction Represenation Represenation_Learning Restoration Review RNN Salient Scene_Classification Scene_Generation Scene_Parsing Scene_Text Segmentation Self-Supervised Semantic_Instance_Segmentation Semantic_Segmentation Semi_Global Semi_Supervised Sence_graph Sentiment Sentiment_Classification Sketch SLAM Sparse Speech Speech_Recognition Style_Transfer Summarization Super_Resolution Surveillance Survey Text_Classification Text_Generation Tracking Transfer_Learning Transformer Unsupervised Video_Caption Video_Classification Video_Indexing Video_Prediction Video_Retrieval Visual_Relation VQA Weakly_Supervised Zero-Shot