کنترل حرکت مطابق استاندارد برای رفتار با یک شی توسط دو روبات صنعتی مشابه

In this paper, we propose a compliant motion control strategy for handling a single object by two similar industrial robots. The dynamics of the object carried by the two robots is assimilated to the dynamics of a mass-spring-damper system described by a piecewise linear model (PWA). The coordination of the two robots is accomplished using a master slave synchronization approach dedicated for PWA systems, based on the Lyapunov theory, and solved via Linear Matrix Inequalities (LMIs). The performances of the proposed approach are proved by simulation results and compared to a related approach with larger stability criteria.

Several industrial tasks, demanding precision, require robot coordination. A specified operation consists of handling a single object [1]. Compliant motion tasks are manipulation tasks that involve contacts between the manipulated object and the robots in which the trajectory of the manipulators are modified depending on the contact forces [2]. Position/force control is usually used for solving such cooperation problems [3, 4, 5, 6, 7, 8]. In fact, the control in position can ensure a tracking of the desired trajectory of the constraint robot and the control in force ensures a specific desired behavior of the robot when it enters in contact with the handled object. Master slave synchronization can be considered as a promising solution for such problems [9, 10].

In this paper, a compliant motion controller is proposed for handling a single object by two similar industrial robots. The coordination was accomplished using an analogue piecewise linear dynamical system and a master slave synchronization approach. The efficiency of the proposed approach was proved via simulation results and finally compared to a related approach.