Research On Multi Manipulator Cooperation System Motion Coordination And Intelligent Hybrid Tracking Control

With the rapid development of production technology, the performance and requirements of manipulator in the field of industry are increasing. For some complex tasks and environments,such as complex assembly tasks,handling heavier objects, a single robot can't be completed due to their own limitations. The cooperation of multiple manipulators has greater flexibility and reliability, can complete a variety of complex tasks, and has a greater load capacity. Therefore, it is of great significance to study the cooperation system of multiple manipulators.Based on the existing MD-6 manipulator, the D-H parameter method is used to derive the kinematic equations, while the MATLAB robot toolbox is used to verify the correctness of the manipulator kinematics solver. On the basis of a single manipulator, the relative relationship between the manipulators is established, and the dynamics of the manipulator is analyzed, which lays the foundation for the coordination and tracking control of the manipulators.According to the relative motion of the end points in the process of cooperation,the motion modes of the multi manipulator cooperation system can be divided into two types: synchronous motion and relative motion. The kinematic constraint equations of the manipulator in Cartesian coordinate system are derived, and the cooperation model of manipulator is established by ADAMS combined with MATLAB/Simulink to verify its correctness. The influence of the external load on the end effector of the manipulator is analyzed to predict error effectively.The hybrid force / position control is studied in order to improve the tracking precision and the ability of anti-jamming and self-adaption. The PID control and the sliding mode compensation control are compared and analyzed. The simulation results show that the sliding mode tracking compensation control has better effect,but exist chattering. So, a sliding mode trajectory tracking control strategy based on fuzzy gain adaptive control is proposed. The simulation results of Simulink show that the proposed control algorithm is effective and reasonable.Based on the research of the multiple manipulator cooperation and intelligenthybrid tracking control,the synchronous and relative motion problem of multi manipulator cooperation is solved and the force/position tracking error is reduced,which provides a theoretical basis for solving the practical engineering problems.