Decentralized control of reconfigurable robots using joint-torque sensing

Yazdi Almodaresi, S. M ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2015.7367848
  3. Abstract:
  4. In this paper, a decentralized controller for trajectory tracking of modular and reconfigurable robot manipulators is developed. The proposed control scheme uses joint-torque sensory feedback; also sliding mode control is employed to make both position and velocity tracking errors of robot manipulators globally converging to zero. Proposed scheme also guarantees that all signals in closed-loop systems will be bounded. In contrast to some of prior works in this scheme, each controller uses a smooth law to achieve its purposes. In this method, each controller uses only local information for producing control law hence separated controller can be used to control each module of manipulator and no information exchange between modules is required. Simulation results are provided for a reconfigurable robot with three modules to verify the performance of the proposed scheme. Results show that decentralized control of reconfigurable robots is feasible, in spite of strong dynamic coupling between modules
  5. Keywords:
  6. Joint-torque sensory feedback ; Robot control ; Closed loop systems ; Controllers ; Flexible manipulators ; Industrial robots ; Manipulators ; Modular robots ; Nonlinear feedback ; Reconfigurable hardware ; Robot applications ; Robotics ; Robots ; Sensory feedback ; Sliding mode control ; Decentralized controller ; Information exchanges ; Joint torque sensing ; Joint torques ; Modular and reconfigurable robot ; Non linear control ; Reconfigurable robot ; Robot controls ; Decentralized control
  7. Source: International Conference on Robotics and Mechatronics, ICROM 2015, 7 October 2015 through 9 October 2015 ; 2015 , Pages 581-585 ; 9781467372343 (ISBN)
  8. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7367848