On position/force tracking control problem of cooperative robot manipulators using adaptive fuzzy backstepping...

Area of Science:

• Robotics
• Control Systems
• Artificial Intelligence

Background:

• Cooperative robot manipulators face challenges with unknown dynamics and external disturbances.
• Precise position and force tracking are critical for handling common objects.

Purpose of the Study:

• To develop an adaptive fuzzy backstepping control scheme for cooperative robot manipulators.
• To address position and force tracking control problems in multi-robot systems handling a common object.

Main Methods:

• Utilizing fuzzy logic systems for estimating unknown robot dynamics.
• Constructing an error system using new state variables for position and orientation errors.
• Applying a backstepping design strategy with coordinate transformation.
• Incorporating internal force properties for force tracking control.

Main Results:

• The proposed adaptive fuzzy backstepping control ensures uniform ultimate boundedness of closed-loop system signals.
• Tracking errors for both position and force converge to small, desired values.
• The approach effectively handles unknown system dynamics and external disturbances.

Conclusions:

• The adaptive fuzzy backstepping position/force control is effective for cooperative robot manipulators.
• The method demonstrates robust performance in simulations with two planar robot manipulators.