Title: Research on multi-task cooperative control and management method of industrial robot multi-manipulator

Authors: Zhenzhuo Wang

Addresses: Department of Mechanical and Electrical Automation, Henan Polytechnic Institute, NanYang, 473000, China

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.

Keywords: industrial robot; multi-manipulator; multi-task cooperative control; Lagrange method; linear sliding mode control.

DOI: 10.1504/IJMTM.2022.128728

International Journal of Manufacturing Technology and Management, 2022 Vol.36 No.5/6, pp.393 - 406

Received: 06 May 2021
Accepted: 27 Oct 2021

Published online: 02 Feb 2023 *

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