Modeling and adaptive coordination control of a two-Robot system

Abstract

Multiple robots are usually required in a flexible manufacturing system or a complex working environment. In particular, when an object under processing is too big or too heavy, a single robot is insufficient to handle it. Two robots are applicable in such case. This article aims to develop a complete mathematical model and an adaptive controller for two robots carrying a common load. It will be shown that the dynamic model of the two-robot system turns out to be a singular system, taking into account the object dynamics. The condition for which the system model holds is also discussed. The adaptive controller will be used to overcome uncertainties in the object dynamics and robots. The distributed forces in the robot end effectors are determined by an optimal criterion. It will be shown that the adaptive controller surpasses the conventional computed torque controller.