Abstract
Constrained motion and redundant degrees of freedom control exist in a multi-manipulator collaboration system. In other words, the multi-manipulator collaboration technology must solve the problems of uncertain environment interaction and coordinated control. Few studies have been conducted on the coordination control of a multi-manipulator, and the control effect is not good. To solve the coordinated motion problem of the multi-manipulator cooperative system, this study divides the multi-manipulator coordinated motion into two forms, namely coupled and superimposed motions, and proposes an adaptive coordinated motion constraint scheme under different motion forms. The coupled and superimposed motions are investigated through coordinated handling and coordinated drawing circle tasks, respectively. The proposed coordinated control scheme has a good effect. Without position detection and positioning, the kinematic constraint algorithm can maintain the relative motion relationship between end-effectors. When an external disturbance occurs, the slave manipulator can automatically adjust based on the position of the main manipulator, avoiding error accumulation. The experimental results show a maximum trajectory tracking error of 2.131 mm and maximum attitude error of 0.176°, indicating that the proposed control scheme has strong adaptive ability and high control accuracy.
Highlights
One of the trending topics in manipulator research is the coordinated motion of multiple manipulators[1][2]
Compared with a single manipulator, a cooperative multi-manipulator system has a more complex organisational structure, which is not a simple combination of multiple manipulators. It needs to address the problems of uncertain environment interaction, feasible control methods and coordinated planning[5]
Aiming at the problem of the coordinated motion of cooperative multi-manipulator systems, this study divides the coordinated motion of multi-manipulator systems into two motion forms: coupling and superposition motions.An adaptive coordinated motion constraint scheme is proposed for the two different motion forms
Summary
One of the trending topics in manipulator research is the coordinated motion of multiple manipulators[1][2]. Compared with a single manipulator, a cooperative multi-manipulator system has a more complex organisational structure, which is not a simple combination of multiple manipulators. It needs to address the problems of uncertain environment interaction, feasible control methods and coordinated planning[5]. Existing multi-manipulator coordinated motion research is scarce, and the coordination effect is poor, often only solving relatively simple coordination tasks. Aiming at the problem of the coordinated motion of cooperative multi-manipulator systems, this study divides the coordinated motion of multi-manipulator systems into two motion forms: coupling and superposition motions.An adaptive coordinated motion constraint scheme is proposed for the two different motion forms. (2)Multi-manipulator superposition motion: there is a specific pose constraint relationship between the end-effector reference points of multi-manipulators and a relative motion constraint relationship, and the final motion trajectory is the superposition of the two parts
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
