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4. Robust Artificial Delay based Impedance Control of Robotic Manipulators with Uncertain Dynamics

Author

Banerjee, Udayan, Dey, Bhabani Shankar, Kar, Indra Narayan, and Saha, Subir Kumar

Subjects
FOS: Computer and information sciences, Computer Science - Robotics, FOS: Electrical engineering, electronic engineering, information engineering, Systems and Control (eess.SY), Robotics (cs.RO), Electrical Engineering and Systems Science - Systems and Control
Abstract

In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of super twisting algorithm (STA) type via a novel generalized filtered tracking error (GFTE). While time delayed estimation framework eliminates the need for accurate modelling of robot dynamics by estimating the uncertain robot dynamics and interaction forces from immediate past data of state and control effort, the second order switching control law in the outer loop provides robustness against the time delayed estimation (TDE) error that arises due to approximation of the manipulator dynamics. Thus, the proposed control law tries to establish a desired impedance model between the robot end effector variables i.e. force and motion in presence of uncertainties, both when it is encountering smooth contact forces and during free motion. Simulation results for a two link manipulator using the proposed controller along with convergence analysis are shown to validate the proposition.

Published
2022
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17. Simplified Drag Modeling for the Dynamics of an Underwater Manipulator.

Author

Sharma, Anil Kumar and Saha, Subir Kumar

Subjects
DRAG coefficient, NUMERICAL integration, DRAG force, DISTRIBUTION (Probability theory), DYNAMIC models
Abstract

The dynamic modeling of an underwater vehicle–manipulator system (UVMS) is still a challenging task, mainly because of nonlinear nature of the hydrodynamic forces acting on the UVMS. This article presents a simplified modeling of the drag forces for the underwater manipulator. The drag force of an underwater body is the function of velocity distribution over the surface of the body. The basis of the proposed drag model is velocity distribution of a rigid link with uniform cross section, which can be uniquely expressed in terms of the velocities of its end points. Therefore, the drag coefficient of the link can be expressed as a function of the velocities of the end points and the ratio of length to cross-sectional dimensions. The drag force was modeled in two parts. First, the drag coefficient was identified with respect to the end point velocities of a one-link manipulator. Second, the identified drag coefficient was used to calculate the drag force. The approach was used to simulate a two-link manipulator in two different configurations. The simulation results were found in good agreement with the experimental results. The proposed drag model does not require any numerical integration or discretization of the links, as in the strip theory used repeatedly by many in the literature. The proposed concept was extended to model the drag force for a ten-degree-of-freedom UVMS and a comparative study was done with the strip theory. The efficacy of the proposed drag modeling and the one based on strip theory was evaluated in terms of accuracy of the simulation results and CPU time. [ABSTRACT FROM AUTHOR]

Published
2021
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22. A decomposition of the manipilator inertia matrix.

Author

Saha, Subir Kumar

Subjects
*MATRICES (Mathematics), *ALGORITHMS, *INERTIA (Mechanics)
Abstract

Suggests an analytical approach for the decomposition of the manipulator inertia matrix in forward dynamics. Generalized inertia matrix (GIM); Decomposition of the GIM; Forward dynamics algorithm; Conclusion of the study.

Published
1997
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24. Overview of Robotics Activities in India (2013) [Industrial Activities].

Author

Sathianarayanan, Madusudanan, Chauhan, Manish, Saha, Subir Kumar, Kumar, Suren, and Krovi, Venkat

Subjects
ROBOTICS research, MILITARY robotics, AUTOMATION
Abstract

The article focuses on the robotics and automation (R&A) technology developments in India as of December 2013. It informs that the Indian Institute of Science in Bangalore, India, the Indian Institutes of Technology (IITs) and the National Institutes of Technology (NITs) work in the growth of robotics in the nation. It also mentions the contributions of the Centre of Artificial Intelligence and Robotics (CAIR) and the National Institute of Oceanography in the defense robotics sector.

Published
2013
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