Synchronization Control For Multiaxis Systems

High-precision motion of robot manipulators depends not only on the position accuracy of each actuator, but also on the position synchronization of all actuators. However, currently in most traditional controllers of robots, the control loop for one actuator does not receive information from other actuators. This lack of synchronization amongst control loops degrades the overall motion performance. Furthermore, the lack of synchronization may result in large unwanted interaction forces amongst each other, and hence, in excessive wear of the actuator and mechanical components. The synchronous control of multiaxis systems provides an opportunity to solve the synchronization problem of robot manipulators. Application of the synchronization control technique to the high-performance controller design of robot manipulators is important for both theoretical analysis and practical implementation.In this dissertation, the general synchronous control scheme for multiaxis system is introduced into the high-precision controller design for robot manipulators. The developed controllers can stabilize the motion of each actuator, and meanwhile synchronize all actuators'motions so that both position and synchronization errors converge to zero, then achieved good desired synchronous control performance. A brief description on the development of the synchronous control of multiaxis system and the history of applying synchronous control into the robot is presented firstly, and then the required mathematics knowledge is introduced. The synchronous controller for robot manipulators are formulated in Section 3, including simple synchronized control, adaptive synchronized control, and sliding mode synchronized control. It is proved that the proposed methods can guarantee global asymptotical stability of the system. Computer simulations demonstrate the effectiveness of the proposed approaches. The comparisons with several commonly used synchronized control schemes are presented in Section 5. Finally, some concluding remarks are summarized in Section 6.