Adaptive coordinated motion constraint control for cooperative multi-manipulator systems
نویسندگان
چکیده
Constrained motion and redundant degrees of freedom control exist in a multi-manipulator collaboration system. In other words, the technology must solve problems uncertain environment interaction coordinated control. Few studies have been conducted on coordination multi-manipulator, effect is not good. To problem cooperative system, this study divides into two forms, namely coupled superimposed motions, proposes an adaptive constraint scheme under different forms. The motions are investigated through handling drawing circle tasks, respectively. proposed has good effect. Without position detection positioning, kinematic algorithm can maintain relative relationship between end-effectors. When external disturbance occurs, slave manipulator automatically adjust based main manipulator, avoiding error accumulation. experimental results show maximum trajectory tracking 2.131 mm attitude 0.176°, indicating that strong ability high accuracy.
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ژورنال
عنوان ژورنال: The International Journal of Advanced Manufacturing Technology
سال: 2022
ISSN: ['1433-3015', '0268-3768']
DOI: https://doi.org/10.1007/s00170-021-08621-y