Abstract
This work presents a synchronized cross-coupled control strategy for the coordination of multi-manipulators system. In the paper, the model-free synchronization error definition manner for different manipulators is introduced in detail. In addition, the joint actuator load of the system is translated and compensated to further improve the synchronization performance of the system. Taking a typical mirror milling system as the research object, the system model and control model are established, the simulation result shows that the proposed strategy can effectively improve the coordination for multi-manipulators system.
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© 2015 Springer International Publishing Switzerland
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Sheng, X., Wang, Z., Xu, L., Zhang, J. (2015). Coordinated Motion Strategy for Multi-manipulators System Based on Joint Space Synchronized Cross-Coupled Control. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_34
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DOI: https://doi.org/10.1007/978-3-319-22876-1_34
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