Abstract
This article introduces a novel control strategy for the uncertain eye-to-hand system, which is considered to work with unknown model of constraint surface and uncalibrated camera model. Besides, the uncertain dynamics and kinematics are also included in the system. In order to be closer to the real robot system, we also consider it with dead-zone inputs situation. So the parameter intervals and slopes of the dead-zone model is also unknown. Hence, a novel adaptive image-based visual servoing (IBVS) and force control approach is put forward. The control method of unknown force and uncalibrated camera model is achieved by adaptive control. The solution of unknown dead-zone inputs is completed by designing a inverse smooth model of dead-zone inputs to offset the nonlinear affect due to the actuator constraint, and the whole system is proved that the force tracking control and image position converge to zero asymptotically. Finally, the MATLAB simulation is set up and the experiment shows the validity of the proposed scheme.
Similar content being viewed by others
References
M. H. Raibert and J. J. Craig, “Hybrid position/force control of manipulators,” ASME J. Dyn. Syst. Meas. Control, vol. 102, pp. 126–133, 1981.
N. Hogan, “Impedance control: An approach to manipulation: Part I- theory; Part II-implementation; part III-applications,” Trans. ASME, J. Dyn. Syst., Meas. Control, vol. 107, pp. 1–24, 1985.
M. Namvar and F. Aghili, “Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments,” IEEE Trans. Robot, vol. 21, no. 4, pp. 678–694, Aug. 2005.
C. C. Cheah, S. Kawamura, and S. Arimoto, “Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties,” Automatica, vol. 39, no. 5, pp. 847–855, May 2003.
T. Yoshikawa and A. Sudou, “Dynamic hybrid position/force control of robot manipulators: Online estimation of unknown constraint,” IEEE Trans. Robot. Autom., vol. 9, no. 2, pp. 220–226, Apr. 1993.
M. Namvar and F. Aghili, “Adaptive force-motion control of coordinated robots interacting with geometrically unknown environments,” IEEE Trans. Robot., vol. 21, no. 4, pp. 678–694, Aug. 2005.
Y. Zhao and C. C. Cheah, “Vision-based neural network control for constrained robots with constraint uncertainty,” IET Control Theory Appl., vol. 2, no. 10, pp. 906–916, Oct. 2008.
C. C. Cheah, S. P. Hou, Y. Zhao, and J.-J. E. Slotine, “Adaptive vision and force tracking control for robots with constraint uncertainty,” IEEE Trans. Mechatronics, vol. 15, no. 3, pp. 389–399, Jun. 2010.
Y.-H. Liu, H. Wang, C. Wang, and K. K. Lam, “Uncalibrated visual servoing of robots using a depth-independent interaction matrix,” IEEE Trans. Robot., vol. 22, no. 4, pp. 804–817, Aug. 2006.
B. J. Nelson and P. K. Khosla, “Force and vision resolve ability for assimilating disparate sensory feedback,” IEEE Trans. Robot. Autom., vol. 12, no. 5, pp. 714–731, Oct. 1996.
G. Morel, E. Malis, and S. Boudet, “Impedance based combination of visual and force control,” Proc. of IEEE Int. Conf. Robot. Autom., pp. 1743–1748, 1998.
K. Hosoda, K. Igarashi, and M. Asada, “Adaptive hybrid control for visual and force servoing in an unknown environment,” IEEE Robot. Autom.Mag., vol. 5, no. 4, pp. 39–43, Dec. 1998.
X. Liang, H. Wang, Y. Liu, W. Chen, and J. Zhao, “A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration,” Automatica, vol. 59, pp. 97–105, Sep. 2015.
H. Wang, “Adaptive visual tracking for robotic systems without image-space velocity measurement,” Automatica, vol. 55, pp. 294–301, May 2015.
H. Wang, C. C. Cheah, W. Ren, and Y. Xie, “Passive separation approach to adaptive visual tracking for robotic systems,” IEEE Trans. Control Syst.Technol., vol. 26, no. 6, pp. 2232–2241, Nov. 2018.
Z. Liu, F. Wang, and Y. Zhang, “Adaptive visual tracking control for manipulator with actuator fuzzy dead-zone constraint and unmodeled dynamic,” IEEE Trans. Syst., Man, Cybern., Syst., vol. 45, no. 10, pp. 1301–1312, Oct. 2015.
Q. Hu, L. Xu, and A. Zhang, “Adaptive back stepping trajectory tracking control of robot manipulator,” J. Frankl. Inst., vol. 349, no. 3 pp. 1087–1105, 2012.
P. M. Alcover, J. Suardíaz, P. J. Navarro, C. Fernández-Isla, and J. J. Torrens, “A piecewise affine warping algorithm for image rectification in an industrial application for ship hull repair,” J. Frankl. Inst., vol. 351, no. 2, pp. 763–784, 2014.
D. Navarro-Alarcon, Y. h. Liu, J. G. Romero, and P. Li, “On the visual deformation servoing of compliant objects: Uncalibrated control methods and experiments,” Int. J. Robot. Res., vol. 33, no. 11, pp. 1462–1480, 2014.
C. C. Cheah, C. Liu, and J. J. E. Slotine, “Adaptive vision based tracking control of robots with uncertainty in depth information,” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2817–2822, 2007.
C. West, E. D. Wilson, Q. Clairon, S. D. Monk, A. Montazeri, and C. J. Taylor, “State-dependent parameter model identification for inverse dead-zone control of a hydraulic manipulator,” IFAC-Pap. vol. 51, no. 15, pp. 126–131, 2018.
H. Chen and N. Sun, “Nonlinear control of underactuated systems subject to both actuated and unactuated state constraints with experimental verification,” IEEE Trans. on Industrial Electronics, vol. 67, no. 9, pp. 7702–7714, 2020.
H. Chen, B. Xuan, P. Yang, and H. Chen, “A new overhead crane emergency braking method with theoretical analysis and experimental verification,” Nonlinear Dynamics, vol. 98, pp. 2211–2225, 2019.
N. Sun, Y. Fu, T. Yang, J. Zhang, Y. Fang, and X. Xin, “Nonlinear motion control of complicated dual rotary crane systems without velocity feedback: Design, analysis, and hardware experiments,” IEEE Trans. on Automation Science and Engineering, vol. 17, no. 2, pp. 1017–1029, 2020.
J. Zhou, C. Wen, and Y. Zhang, “Adaptive output control of nonlinear systems with uncertain dead-zone nonlinearity,” IEEE Trans. Autom. Control, vol. 51, no. 3, pp. 504–511, 2006.
C. D. Makavita, S. G. Jayasinghe, H. D. Nguyen, and D. Ranmuthugala, “Experimental study of command governor adaptive control for unmanned underwater vehicles,” IEEE Trans. Control Syst. Technol., vol. 27, no. 1, pp. 332–345, 2019.
C. Hu, B. Yao, and Q. Wang, “Adaptive robust precision motion control of systems with unknown input dead-zones: A case study with comparative experiments,” IEEE Trans. Ind. Electron., vol. 58, no. 6, pp. 2454–2464, 2011.
L. E. Weiss, A. C. Sanderson, and C. P. Neuman, “Dynamic sensor-based control of robots with visual feedback,” IEEE J. Robot. Autom., vol. 3, no. 5, pp. 404–417, Oct. 1987.
M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, Inc., New York, USA, 2008.
B. Siciliano and L. Villani, Robot Force Control, Kluwer, Norwell, MA, 1999.
N. H. McClamroch and D. Wang, “Feedback stabilization and tracking of constrained robots,” IEEE Trans. Autom. Control, vol. 33, no. 5, pp. 419–426, May 1988.
S. Arimoto, Control Theory of Nonlinear Mechanical Systems: A Passivity-Based and Circuit-Theoretic Approach, Clarendon, Oxford, U.K., 1996.
C. Hu, B. Yao, and Q. Wang, “Adaptive robust precision motion control of systems with unknown input dead-zones: A case study with comparative experiments,” IEEE Trans. Ind. Electron., vol. 58, no. 6, pp. 2454–2464, 2011.
G. Niemeyer and J. J. E. Slotine, “Performance in adaptive manipulator control,” Int. J. Robot. Res., vol. 10, no. 2, pp. 149–161, 1991.
F. Wang, Z. Liu, C. L. P. Chen, and Y. Zhang, “Robust adaptive visual tracking control for uncertain robotic systems with unknown dead-zone inputs,” Journal of the Franklin Institute, vol. 356, no. 12, pp. 6255–6279, 2019.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Recommended by Associate Editor Yingmin Jia under the direction of Editor Fumitoshi Matsuno.
Sihang Zhang received his B.Eng. degree in the Department of Automation from Nanjing Normal University in 2016. He is currently a Ph.D. Candidate in Department of Automation, University of Science and Technology of China, Hefei, China. His research interests include robotic control and visual servoing control.
Haibo Ji received his B.Eng. and Ph.D. degrees in mechanical engineering from Zhejiang University and Beijing University, in 1984 and 1990, respectively. He is currently a professor in Department of Automation, University of Science and Technology of China, Hefei, China. His research interests include nonlinear control and adaptive control.
Hepeng Zhang received his B.D. in the School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China in 2019, Chengdu, China. He is currently an M.D. Candidate in the Department of Automation, University of Science and Technology of China, Hefei, China. His research interests include the control of nonlinear system and their applications.
Rights and permissions
About this article
Cite this article
Zhang, S., Ji, H. & Zhang, H. Adaptive IBVS and Force Control for Uncertain Robotic System with Unknown Dead-zone Inputs. Int. J. Control Autom. Syst. 19, 1651–1660 (2021). https://doi.org/10.1007/s12555-020-0008-6
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12555-020-0008-6