RIBUST-ADAPTIVE CONTROL OF TWO 5 DOF COOPRATINE ROOT MANIPULATORS

In this paper, application of a robust-adaptive control scheme to a cooperating robotic system consisting of two 5 DOF (RRRRR) robot manipulators is proposed. The considered dual system is used to manipulate a rigid payload between on a desired trajectory between two desired initial and end position/orientation. The appropriate path is designed to start and end with the lowest velocity and acceleration at the desired points and the inverse kinematics is solved for the dual arm. The dynamic equations of motion for two arms and the payload are determined and the constraints are utilized to obtain the complete required equations. Simulation results are provided to illustrate the performance of the control algorithm. The robustness of the proposed control scheme is verified in the presence of disturbance and parameter uncertainty.