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Adaptive coordinated motion constraint control for cooperative multi-manipulator systems

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Abstract

Constrained motion and redundant degrees of freedom control exist in a multi-manipulator collaboration system. In other words, the multi-manipulator collaboration technology must solve the problems of uncertain environment interaction and coordinated control. Few studies have been conducted on the coordination control of a multi-manipulator, and the control effect is not good. To solve the coordinated motion problem of the multi-manipulator cooperative system, this study divides the multi-manipulator coordinated motion into two forms, namely coupled and superimposed motions, and proposes an adaptive coordinated motion constraint scheme under different motion forms. The coupled and superimposed motions are investigated through coordinated handling and coordinated drawing circle tasks, respectively. The proposed coordinated control scheme has a good effect. Without position detection and positioning, the kinematic constraint algorithm can maintain the relative motion relationship between end-effectors. When an external disturbance occurs, the slave manipulator can automatically adjust based on the position of the main manipulator, avoiding error accumulation. The experimental results show a maximum trajectory tracking error of 2.131 mm and maximum attitude error of 0.176°, indicating that the proposed control scheme has strong adaptive ability and high control accuracy.

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Funding

This work was supported by the National Natural Science Foundation of China (Grant No. 51305241), the Natural Science Foundation of Shandong province (Grant No. ZR2018MEE022), and the Youth Entrepreneurship Fund of Shandong Higher Education Institutions (Grant No. 2019KJB015).

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Authors and Affiliations

  1. Shandong University of Science and Technology, Qingdao, China

    Chunjian Su, Min Zhang, Shuai Zhang, Sumin Guo, Rui Wang, Guosong Zhang, Yanan Yao & Qiang Zhang

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  1. Chunjian Su
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  2. Min Zhang
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  3. Shuai Zhang
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  4. Sumin Guo
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  5. Rui Wang
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  6. Guosong Zhang
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  7. Yanan Yao
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  8. Qiang Zhang
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Contributions

In this study, the coordinated motion of a multi-manipulator is divided into two types: coupling and superposition motions. An adaptive coordinated motion constraint scheme is proposed for the two different motion forms. Solve the problem of coordinated motion control of multi-manipulator cooperation system.

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Correspondence to Sumin Guo.

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Su, C., Zhang, M., Zhang, S. et al. Adaptive coordinated motion constraint control for cooperative multi-manipulator systems. Int J Adv Manuf Technol 119, 4203–4218 (2022). https://doi.org/10.1007/s00170-021-08621-y

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