Experimental studies of algorithms for control of coordinated motion of two-manipulator cooperative system

Authors: Leskov A.G., Kalevatykh I.A. Published: 10.06.2013
Published in issue: #4(89)/2012  

Category: Control Systems  
Keywords: two-manipulator cooperative system, interaction tasks, compliant motion, cooperative control, position control force control

Results of experimental studies of two algorithms for control of motion of a two-manipulator cooperative system are considered for the case of mechanical connection between the manipulators. The first algorithm is based on a common planned trajectory given for both manipulators. In the second algorithm, the planned trajectory is set only for one of the manipulators — the “leader”. Motion of the second manipulator is carried out in a compliant mode by signals from the six-component force/moment sensor.