Robust control of two 5 DOF cooperating robot manipulators

In this paper, application of a robust control scheme to a cooperating robotic system consisting of two 5 DOF (RRRRR) robot manipulators is proposed. The considered dual system is used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The appropriate path is designed to start and end with the lowest velocity and acceleration at the desired points and the inverse kinematics is solved for the dual arm system. The dynamic equations of motion for two arms and the payload are derived and the constraints are utilized to obtain the complete required equations. The control method needs measurements of position, velocity and acceleration of the object and doesn't need the measurements of forces and moments at the contact points. Simulation results are provided to illustrate the performance of the control algorithm. The robustness of the proposed control scheme is verified in the presence of disturbance and uncertainty

[1]  Karim Abdel-Malek,et al.  Robust control of planar dual-arm cooperative manipulators , 2000 .

[2]  İbrahim Uzmay,et al.  Application of robust and adaptive control techniques to cooperative manipulation , 2004 .

[3]  Haruhisa Kawasaki,et al.  Adaptive decentralized coordinated control of multiple robot arms , 2003 .

[4]  A. Koivo.  Fundamentals for Control of Robotic Manipulators , 1989 .

[5]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[6]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[7]  Oussama Khatib,et al.  Object manipulation in a multi-effector robot system , 1988 .

[8]  Andrew A. Goldenberg,et al.  Robust control of robot manipulators incorporating motor dynamics , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[9]  Christopher J. Damaren,et al.  An Adaptive Controller for Two Cooperating Flexible Manipulators , 2003, J. Field Robotics.

[10]  Haruhisa Kawasaki,et al.  Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object , 2005 .

[11]  Yunhui Liu,et al.  Cooperation control of multiple manipulators with passive joints , 1999, IEEE Trans. Robotics Autom..

[12]  Haruhisa Kawasaki,et al.  Adaptive Coordinated Control of Multiple Robot Arms , 2000 .

[13]  Yangsheng Xu,et al.  Control of Cooperative Underactuated Manipulators: A Robustness Comparison Study , 1998 .

[14]  Rogelio Lozano,et al.  Non-linear Control for Underactuated Mechanical Systems , 2001 .

[15]  S. Hayati.  Hybrid position/Force control of multi-arm cooperating robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.