Adaptive Dynamic Coupling Control of Hybrid Joints of Human-Symbiotic Wheeled Mobile Manipulators with Unmodelled Dynamics

摘要

In this paper, adaptive dynamic coupling control is considered for hybrid joints, which could be switched to either active (actuated) or passive (under-actuated) mode, for human-symbiotic wheeled mobile manipulators with unmodelled dynamics. This social robot can be used in the house, the office, etc, which can flexibly interact with the human and would not injure the people. The constraints for such social robots consist of kinematic constraints and dynamic constraints. Based on Lyapunov synthesis, adaptive coupling control using physical properties of mobile social robot is proposed for passive hybrid joints, which ensures that the system outputs track the given bounded reference signals within a small neighborhood of zero, and guarantee semi-global uniform boundedness of all closed loop signals. The effectiveness of the proposed controls is verified through extensive simulations.