Dynamic parameter identification and adaptive control with trajectory scaling for robot-environment interaction

To improve the force/position control performance of robots in contact with the environment, this paper proposes a control scheme comprising dynamic parameter identification, trajectory scaling, and computed-torque control based on adaptive parameter estimation. Based on the Newton-Euler method, the...

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Bibliographic Details
Published in:PloS one 2023-07, Vol.18 (7), p.e0287484-e0287484
Main Authors: Song, Ke, Hu, Heyu
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Analysis
Computer Simulation
Contact force
Control algorithms
Control systems
Control theory
Decomposition
Design
Engineering and Technology
Gene-Environment Interaction
Identification methods
Least-Squares Analysis
Management
Parameter estimation
Parameter identification
Physical Sciences
Research and Analysis Methods
Robot control
Robotics - methods
Robotics industry
Robots
Scaling
Teaching methods
Torque
Trajectory control
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Summary:To improve the force/position control performance of robots in contact with the environment, this paper proposes a control scheme comprising dynamic parameter identification, trajectory scaling, and computed-torque control based on adaptive parameter estimation. Based on the Newton-Euler method, the dynamic equation and its regression matrix is obtained, which is helpful to reduce the order of the model. Subsequently, the least-square method is implemented to calculate the values of the basic parameters of the dynamics. The identified dynamic parameters are used as initial values in the adaptive parameter estimation to obtain the torque, and trajectory scaling is applied to control the contact force between the robot and the environment. Finally, the dynamic parameter identification method and control algorithm are verified by conducting a simulation. The results show that the comprehensive application can help improve the control performance of robots.
ISSN:1932-6203
1932-6203
DOI:10.1371/journal.pone.0287484