Abstract
This work presents a synchronized cross-coupled control strategy for the coordination of multi-manipulators system. In the paper, the model-free synchronization error definition manner for different manipulators is introduced in detail. In addition, the joint actuator load of the system is translated and compensated to further improve the synchronization performance of the system. Taking a typical mirror milling system as the research object, the system model and control model are established, the simulation result shows that the proposed strategy can effectively improve the coordination for multi-manipulators system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Ulu, N.G., Ulu, E., Cakmakci, M.: Learning based cross-coupled control for multi-axis high precision positioning systems. In: ASME 2012 5th Annual Dynamic Systems and Control Conference, pp. 535–541 (2012)
Feng, H., Poo, A.N.: Improving contouring accuracy by using generalized cross-coupled control. International Journal of Machine Tools & Manufacture 63(3), 49–57 (2012)
Jeong, S., You, S.: Precise position synchronous control of multi-axis servo system. Mechatronics 18(3), 129–140 (2008)
Marvin, Cheng, H.M., Aniruddha, M., Chen, C.Y.: Synchronization controller synthesis of multi-axis motion system. In: Fourth International Conference on Innovative Computing, pp. 918–921 (2009)
Sun, D., Tong, M.: A synchronization approach for the minimization of contouring errors of CNC machine tools. IEEE Transactions on Automation Science and Engineering 6(4), 720–729 (2009)
Zhao, D.Y., Li, S.Y., Gao, F.: Fully adaptive feedforward feedback synchronized tracking control for Stewart platform systems. International Journal of Control, Automation and Systems 6(5), 689–701 (2008)
Ouyang, P.R., Pano, V.: Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator. Journal of Dynamic Systems Measurement & Control 136(2), 167–175 (2013)
Su, Y., Sun, D., Ren, L.: Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators. IEEE Transactions on Robotics 22(1), 202–207 (2006)
Sun, D., Ren, L., Mills, J.K.: Synchronous Tracking Control of Parallel Manipulators Using Cross-coupling Approach. International Journal of Robotics Research 25(11), 1137–1147 (2006)
Pi, Y.J., Wang, X.Y., Gu, X.: Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method. Journal of Central South University of Technology 18(5), 1554–1562 (2011)
Shang, W.W., Cong, S., Zhang, Y.X.: Active joint synchronization control for a 2-DOF redundantly actuated parallel manipulator. IEEE Transanctions on Control Systems Technology 17(2), 416–423 (2009)
Lan, T., Liu, Y.W.: Synchronized cross-coupled control for base joint of dexterous robot hand. Jiqiren/Robot 32(2), 150–156 (2010)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Sheng, X., Wang, Z., Xu, L., Zhang, J. (2015). Coordinated Motion Strategy for Multi-manipulators System Based on Joint Space Synchronized Cross-Coupled Control. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_34
Download citation
DOI: https://doi.org/10.1007/978-3-319-22876-1_34
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22875-4
Online ISBN: 978-3-319-22876-1
eBook Packages: Computer ScienceComputer Science (R0)