ArticleScientific reports2025
Prescribed time control of position and force tracking for dualarm robots with output error constraints.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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3 authors.
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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.
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