Keqiang Bai

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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(More)
The problem of inverse kinematics is fundamental in robot control. Many traditional inverse kinematics solutions, such as geometry, iteration, and algebraic methods, are inadequate in high-speed solutions and accurate positioning. In recent years, the problem of robot inverse kinematics based on neural networks has received extensive attention, but its(More)
A torque compensation method is proposed in this paper. Through theoretical analysis and experiments, a compensation strategy with tracking filter is designed for the control system of the industrial robot. This strategy can be used to suppress the time-varying nonlinear residual vibration of the end-effector which caused by the variation of the inertia in(More)
This paper the adaptive backstepping control algorithm (ABCA) is proposed for dual-arm cooperative manipulators to achieve a precise trajectory tracking in the task space. Firstly the Lagrange function is employed to construct the dynamic mode of the upper part of the humanoid, the modified dynamic mode is obtained through decoupling the each joint.(More)
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