Fuzzy backstepping control for dual-arm cooperative robot grasp

Abstract

In this paper, a fuzzy backstepping control algorithm (FBC) for dual-arm cooperative robot is proposed to implement a grasp task. Firstly, the dual-arm cooperative dynamic model including dual-arm robot dynamic and objective dynamic is established. Secondly, The FBC is aim to eliminate the nonlinear uncertain and improve the performance of position-tracking of the end-effecter. Third, the hybrid system based on force and position control is proposed to complete the dual-arm cooperative grasp. Moreover, the Lypunova theory is applied to guarantee the stability of the closed-loop system of the dual-arm robot. Finally, the effectiveness of the proposed algorithm and theory is demonstrated by the simulation on the simulink and experiment conducted on the humanoid robot.