The paper has developed an adaptive control using neural network for controlling dual-arm robotic system in stable grasping a rectangle object and moving it to the desired trajectories. Firstly, an overall dynamics of the manipulators and the object has been derived based on Euler-Lagrangian principle. And then based on the dynamics, a controller has proposed to achieve the desired trajectories of the grasping object. A radial neural network has been applied to compensate uncertaities of dynamic parameters. The adaptive learning algorithm has been derived owning to Lyapunov stability principle to guarantee asymptotical convergence of the closed loop system. Finally, simulation work on MatLab has been carried out to reconfirm the accuracy and the effectiveness of the proposed controller.
Keyword
Adaptive control, dynamics, Radial Basis Function Neural Network, dual-arm robotic.
