Prescribed time control of position and force tracking for dualarm robots with output error constraints
Abstract This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact for...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-01-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-025-86783-5 |
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| _version_ | 1832585800789786624 |
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| author | Heyu Hu Shengjun Wen Jun Yu |
| author_facet | Heyu Hu Shengjun Wen Jun Yu |
| author_sort | Heyu Hu |
| collection | DOAJ |
| description | Abstract This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact force model and free motion model, which are orthogonal to each other. Furthermore, by combining the performance function and constraint function, the original system tracking error is transformed to a new one, whose boundedness can ensure that the original system variable converges to the predetermined range within the specified time. Then, a comprehensive neuroadaptive controller including position control term and contact control force control term is designed. Finally, the simulation results of two planar three link robots working together on a common object verify the effectiveness and superiority. |
| format | Article |
| id | doaj-art-bed7c6ca3801494d8cc4ed8f65b4072e |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-bed7c6ca3801494d8cc4ed8f65b4072e2025-01-26T12:30:31ZengNature PortfolioScientific Reports2045-23222025-01-0115111810.1038/s41598-025-86783-5Prescribed time control of position and force tracking for dualarm robots with output error constraintsHeyu Hu0Shengjun Wen1Jun Yu2Zhongyuan University of TechnologyZhongyuan University of TechnologyZhongyuan University of TechnologyAbstract This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact force model and free motion model, which are orthogonal to each other. Furthermore, by combining the performance function and constraint function, the original system tracking error is transformed to a new one, whose boundedness can ensure that the original system variable converges to the predetermined range within the specified time. Then, a comprehensive neuroadaptive controller including position control term and contact control force control term is designed. Finally, the simulation results of two planar three link robots working together on a common object verify the effectiveness and superiority.https://doi.org/10.1038/s41598-025-86783-5 |
| spellingShingle | Heyu Hu Shengjun Wen Jun Yu Prescribed time control of position and force tracking for dualarm robots with output error constraints Scientific Reports |
| title | Prescribed time control of position and force tracking for dualarm robots with output error constraints |
| title_full | Prescribed time control of position and force tracking for dualarm robots with output error constraints |
| title_fullStr | Prescribed time control of position and force tracking for dualarm robots with output error constraints |
| title_full_unstemmed | Prescribed time control of position and force tracking for dualarm robots with output error constraints |
| title_short | Prescribed time control of position and force tracking for dualarm robots with output error constraints |
| title_sort | prescribed time control of position and force tracking for dualarm robots with output error constraints |
| url | https://doi.org/10.1038/s41598-025-86783-5 |
| work_keys_str_mv | AT heyuhu prescribedtimecontrolofpositionandforcetrackingfordualarmrobotswithoutputerrorconstraints AT shengjunwen prescribedtimecontrolofpositionandforcetrackingfordualarmrobotswithoutputerrorconstraints AT junyu prescribedtimecontrolofpositionandforcetrackingfordualarmrobotswithoutputerrorconstraints |