Robust control of two 5 DOF cooperating robot manipulators

Abstract

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