| To avoid tedious work and dangerous working environment, Man begins to study robot. For decades of development, robot has been applied in all fields and robotics has been a combined subject. Study for the kinematics dynamics and control of robot had been the hottest topics. A lot of people are devoted to studying for the robot. The studied object in robotics varies from robot with certainties to robot with uncertainties,from single robot to multi robots from non-redundant robot to redundant robot.Because single robot is simple in structure and is low in producing costs, the widely applied in industry is single robot. The tasks executed by single robot are limited in some areas. Single robot cannot accomplish such tasks as putting operated object in given arbitrary orientation and transporting some heavy and large objects. Therefore it is necessary to study the coordination for multiple robots.The coordination for multiple redundant robots is studied in this paper by use of geometry. The main method in study is to build a good quantifying dynamic equation, then to extend some control algorithms for single robot to multiple robots. The difficulties in studying the coordination for multiple robots is that all joints of robot are no longer independent because of the constraints by the touch between the robot and object and that the new system consisting of robot and object no longer owns some good characters by single robot such passity as so on. Therefore some control algorithms being suitable for single robot is not probably avail for multiple robots. As soon as multiple robots are concerted, the internal force should be controlled in addition to motion trajectory. If the internal force should not controlled, the grasped object would slipped from robot or will be damaged.This paper deals with the following three topics with regard to the control of multiple manipulators: 1.Deprive the kinematics and dynamical equations of two manipulators with identical structure on the basis of geometry theory, one of which has two links, giving the inverse solution to the kinematics of the system which consists of the manipulators and the grasped object; 2.by use of load-distributing, design a controller coordinating multiple redundant manipulators whose parameters are known. This controller both distributes load to all robots by given proportional and optimizes torque, solving some defaults of existing controllers which are designed, omitting loading capacity of each robot; 3. Based on adaptive control theory, respectively study the system consisting of non-redundant robots and the system made up of redduant robots, proposing classes of adaptive control strategies for trajectory tracking and internal force tracking of robot manipulators with uncertainties. Though the controller for the system consisting of nonredduant robots dot not satisfy the condition persistent-exciting, it guarantees the system be stable; for the system consisting of redduant robots, firstly we derive a new dynamic equation based on the manifold embedding theory in geometry, then design a controller without solving the represser of the system.According to the context in study, this paper is divided into six chapters. In chapter 1, we introduce the development and further study tendency of the research for the coordination of multiple manipulators. At the same time, we give a brief introduction to the main work of the paper. In chapter 2, for the purpose of the convenience of the further stating, the kinematics and dynamic are again illustrated from the view of point of the geometry. For the convenience of theexperiment, analysis, simulation, in chapter 3, on the basis of chapter 2, we derive the kinematics and dynamitic equation of the system, which is made up of two manipulators and the object. In chapter 4, using the joint redundancy, we discuss the optimal torque control problem of a system of multiple coordinated redundant manipulators which executing parts matching. Firstly, we derive the dynamitic equation of the system that is mad... |
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