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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/9919
Title: Adaptive neural controller for cooperative multiple robot manipulator system manipulating a single rigid object
Authors: Panwar V.
Kumar N.
Sukavanam N.
Borm J.-H.
Published in: Applied Soft Computing Journal
Abstract: In this article, an adaptive neural controller is developed for cooperative multiple robot manipulator system carrying and manipulating a common rigid object. In coordinated manipulation of a single object using multiple robot manipulators simultaneous control of the object motion and the internal force exerted by manipulators on the object is required. Firstly, an integrated dynamic model of the manipulators and the object is derived in terms of object position and orientation as the states of the derived model. Based on this model, a controller is proposed that achieves required trajectory tracking of the object as well as tracking of the desired internal forces arising in the system. A feedforward neural network is employed to learn the unknown dynamics of robot manipulators and the object. It is shown that the neural network can cope with the unknown nonlinearities through the adaptive learning process and requires no preliminary offline learning. The adaptive learning algorithm is derived from Lyapunov stability analysis so that both error convergence and tracking stability are guaranteed in the closed loop system. Finally, simulation studies and analysis are carried out for two three-link planar manipulators moving a circular disc on specified trajectory. © 2011 Elsevier B.V. All rights reserved.
Citation: Applied Soft Computing Journal (2012), 12(1): 216-227
URI: https://doi.org/10.1016/j.asoc.2011.08.051
http://repository.iitr.ac.in/handle/123456789/9919
Issue Date: 2012
Keywords: Adaptive learning
Coordinated multiple robot manipulator system
Feedforward neural network
Lyapunov stability analysis
ISSN: 15684946
Author Scopus IDs: 17435058900
57210249358
12804420600
7003881804
Author Affiliations: Panwar, V., Department of Applied Mathematics, Defence Institute of Advanced Technology, Pune 411025, Maharashtra, India
Kumar, N., Division of Mechanical Engineering, Ajou University, Suwon 443749, South Korea
Sukavanam, N., Department of Mathematics, Indian Institute of Technology, Roorkee 247667, Uttarakhand, India
Borm, J.-H., Division of Mechanical Engineering, Ajou University, Suwon 443749, South Korea
Funding Details: This research has been supported by BK21 Project, Division of Mechanical Engineering, Ajou University, Suwon-443749, South Korea . The authors are thankful to the reviewers for their valuable suggestions. Vikas Panwar received B.Sc. degree from CCS University Meerut in 1998 and M.Sc. degree in Applied Mathematics form IIT Roorkee in 2000. He Completed Ph.D. degree from Indian Institute of Technology Roorkee, in 2006. From July 2004 to March 2010, he was Lecturer in the department of Mathematics, CDL University Sirsa. He worked in the department of Applied Mathematics, Defence Institute of Advenced Technology Pune from April 2010 to August 2010. Currently he is Assistant Professor in School of Applied Mathematics, Gautam Buddha University Greater Noida. His research interests include neural network control, fuzzy control for robotic systems and nonlinear systems. Naveen Kumar received Master's Degree in Mathematics from CCS University Meerut India, in 2001. He Completed Ph.D. degree from Indian Institute of Technology Roorkee, India in 2009. Presently he is postdoctoral fellow at the in the department of mechanical engineering of Ajou university in Korea. His areas of interest Robot Dynamics and Control, Soft Computing Techniques and Reliability Analysis. N. Sukavanam received his M.Sc. degree from Government Arts College, Salem, University of Madras, India in 1979. He completed his Ph.D. from Indian Institute of Science, Bangalore in 1985. He worked as Scientist B at NSTL, DRDO, Vizag from 1984 to 1986. He was a Research Scientist in Department of Mathematics, IIT, Bombay from 1987 to 1990. He worked as lecturer at BITS, Pilani, Rajasthan from 1990 to 1996. Presently he is Associate Professor at Indian Institute of Technology Roorkee, India. His area of research includes Nonlinear analysis (control theory), Robotics and Control. Jin-Hwan Borm received the MS and Phd in Mechanical Engineering from the Ohio State University, USA in 1985 and 1988 respectively. He is currently professor in the department of mechanical engineering of Ajou university in Korea. His area of research includes Robotics and Virtual manufacturing system.
Corresponding Author: Kumar, N.; Division of Mechanical Engineering, Ajou University, Suwon 443749, South Korea; email: navindma@gmail.com
Appears in Collections:Journal Publications [MA]

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