Control Study On Coordination Of Multi-Manipulator System

Based on the traditional PID control, PID control with sliding mode compensation, sliding mode control of fuzzy adaptive with adjusting gains, this paper researches the coordination of multi-manipulator system, mainly proposes a few methods about how to control hybrid force / position and trajectory tracking.In Chapter 1, this paper introduces the current research work and main methods about multi-manipulator system coordination control, which leads to the main content of this paper. In chapter 2, after the kinematics and dynamics of the multi-manipulator coordination system are analyzed, this paper establishes the whole system model of multi-manipulator holding objects. For the convenience of discussion and verification of the control methods in the next sections, this paper deduces two simplified models from the same original system model, and establishes the simulation model including two manipulators with two joints.In Chapter 3, the description and definition of the internal force are provided for the hybrid force / position control firstly. The traditional PID control method of object's internal force and position is proposed and the simulation verifies the feasibility of the method. Secondly, Chapter 4 mainly researches the sliding mode control design method, approximation, discusses the hybrid position / force control method based on sliding mode compensation, and uses Lyapunov function to prove system stability and so on. The result proves that this method makes the internal force and position more closer to the expected value than PID control. Finally, Chapter 5 proposes sliding mode control based on fuzzy adaptive with adjusting gains to realize trajectory tracking of multi-manipulator system and to eliminate common chattering defects of sliding mode control. The simulation results show that, compared with conventional sliding mode control, adjusting adaptive gains helps to eliminate sliding mode control chattering, make the control system more stable, and achieve more ideal control effects.