Dynamic Model, Control and Simulation of Cooperative Robots: A Case Study

摘要

In this chapter, we developed the model for two cooperative industrial robots holding a rigid object without friction. The dynamic model for the manipulators is obtained independently from each other with the Lagrangian approach. Once the robots are holding the object, their joint variables are kinematically and dynamically coupled. These coupling equations are combined with the dynamic model of the object to obtain a mathematical description for the cooperative system. Besides, the tracking control problem for cooperative robots without velocity measurements is considered. The control law is a decentralized approach which takes into account motion constraints rather than the held object dynamics. By assuming that fingers dynamics are well known and that contact forces measurements are available, a linear observer for each finger is proposed which does not require any knowledge of the robots dynamics. Despite the fact that the stability analysis is complex, the controller and specially the observer are not. Some experiments and simulations have been carried out to test the theoretical results. The overall outcome of the mathematical model compared with the real system can be considered good, which validates the approach used.