Research on multi-task cooperative control and management method of industrial robot multi-manipulator Online publication date: Thu, 02-Feb-2023
by Zhenzhuo Wang
International Journal of Manufacturing Technology and Management (IJMTM), Vol. 36, No. 5/6, 2022
Abstract: In order to overcome the problems of large cooperative control errors and trajectory tracking errors due to the lack of kinematics uncertainties in the traditional manipulator task control method, a new collaborative multi-task control method for industrial robots was designed. The Lagrange method was used to construct the single manipulator dynamics model, the Newton-Euler recursion method was used to construct the target object dynamics model, and then the multi-manipulator model was constructed. Based on the kinematics uncertainty, the multi-task cooperative control model of multi-manipulator was constructed, and the multi-task cooperative robust and adaptive controller was designed with the state feedback control, so as to realise the multi-task cooperative control. Experimental results show that the maximum error of multi-manipulator cooperative control is less than 20 mm, and the minimum error of object trajectory tracking is 10 mm, which proves that the proposed method can effectively achieve the design expectation.
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