ADAPTIVE BACK STEPPING CONTROL FOR SAFE GRASPING OF AN OBJECT BY A ROBOTIC GRIPPER

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HOSSEINPOUR KALATEH HOSSEIN; AHMADI HABIB

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Journal: Modares Mechanical Engineering Year:2016 | Volume:15 | Issue:10 Page(s): 56-66

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Information Journal Paper

Title

ADAPTIVE BACK STEPPING CONTROL FOR SAFE GRASPING OF AN OBJECT BY A ROBOTIC GRIPPER

Author(s)

HOSSEINPOUR KALATEH HOSSEIN | AHMADI HABIB | Issue Writer Certificate

Keywords

ADAPTIVE BACK STEPPING CONTROLQ2

SLIP CONTROLQ2

GRASPINGQ2

OBJECTQ2

ROBOT GRIPPERQ2

Abstract

This paper deals with the problem of safe GRASPING of an OBJECT. According to robot maneuvers during movement, the slipping or falling of the OBJECTs is possible. Here, an ADAPTIVE BACK STEPPING CONTROL method is used for controlling of slipping and tracking of desirable paths. First, the robot dynamics of GRASPING of an OBJECT including mechanical arm with three rotational joints, one prismatic joint, jaw gripper as well as dynamic of the electrical actuators is derived. Then, back stepping technique, which is a systematic approach based on Lyaponov theory, is applied for this nonlinear system. Because of existence of different uncertainties in this system such as mass and inertia of robot and OBJECT mass, it is required to design a controller to be able to cope with these uncertainties. Accordingly, a stable controller using ADAPTIVE BACK STEPPING CONTROL methodology is also designed to estimate of these parameters’ uncertainties. Stability analysis is provided based on Lyapunov theory. Simulations are carried out to evaluate the performance of the proposed controller. Results show the effectiveness of the proposed control method.

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APA: Copy

HOSSEINPOUR KALATEH, HOSSEIN, & AHMADI, HABIB. (2016). ADAPTIVE BACK STEPPING CONTROL FOR SAFE GRASPING OF AN OBJECT BY A ROBOTIC GRIPPER. MODARES MECHANICAL ENGINEERING, 15(10), 56-66. SID. https://sid.ir/paper/179637/en

Vancouver: Copy

HOSSEINPOUR KALATEH HOSSEIN, AHMADI HABIB. ADAPTIVE BACK STEPPING CONTROL FOR SAFE GRASPING OF AN OBJECT BY A ROBOTIC GRIPPER. MODARES MECHANICAL ENGINEERING[Internet]. 2016;15(10):56-66. Available from: https://sid.ir/paper/179637/en

IEEE: Copy

HOSSEIN HOSSEINPOUR KALATEH, and HABIB AHMADI, “ADAPTIVE BACK STEPPING CONTROL FOR SAFE GRASPING OF AN OBJECT BY A ROBOTIC GRIPPER,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 10, pp. 56–66, 2016, [Online]. Available: https://sid.ir/paper/179637/en

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