Barrier Lyapunov Based Control of dual-arm exoskeleton robots performing asymmetric bimanual tasks

摘要

This paper presents Barrier Lyapunov Based Control of a dual-arm exoskeleton system by using the relative Jacobian technique. Two upper exoskeletons operates in a constrained region of the operational space, whose end-effector motions are defined by the relative motion between the two end effectors. Barrier composite energy function (BCEF) scheme with a novel Barrier Lyapunov Function is developed to help exoskeleton tracking desired trajectories within the constrained range and provides a convenient way of dynamics cancellation with minimal knowledge of the dynamics parameters of the dual arm. Finally, the performance of the proposed adaptive control is illustrated through extensive experiments using the developed exoskeleton.