The Position Synchronization Control Of Multiple Robotic Manipulators

In modern manufacturing,robotic manipulator system plays more and more significant role in industrial tasks.Single robotic manipulator sometimes cannot meet the demand of these complex tasks.Synchronization is a hard nut which can influence the control performance of multiple robotic manipulator system.And proposed system is also a typical system with various coupling terms and strong nonlinearity.It remains a challenge on the control design of the multiple robotic manipulator system.The position and synchronization control of the end-effectors for multiple robotic manipulator system is investigated in this thesis.The main contribution of this paper is listed as follow:By using Lagrange equation,the dynamic equation in joint space of single manipulator is induced.The Jacobian matrix is obtained by the kinematic equation of the single robotic manipulator.And the dynamic equation in Cartesian space of single robotic manipulator is given according to the Jacobian matrix and the kinematic equation in joint space.Then with the analysis of the dynamic equation and the feature of proposed system,the dynamic model of multiple robotic manipulator system in task space is given.A global sliding mode synchronization control based on cross-coupling synchronization method for the multiple robotic manipulator system is proposed to guarantee that the system states can fast converge to the global sliding mode surface.Simulation results shows the feasibility of the control strategy.A composite integral sliding mode synchronization controller is proposed for the proposed system with unknown uncertainty and external disturbance.Finite-time convergence is achieved by using the proposed strategy.To compensate the influence from the uncertainties,an adaptive update law is designed to estimate the upper bound of the uncertainties and external disturbance.Simulation results show that good synchronization and tracking performance is guaranteed by using the proposed control strategy.A nonsingular fast sliding mode synchronization control strategy based on crosscoupling synchronization method is proposed for effector saturation.The power of each term in nonsingular fast sliding mode surface is greater than 1,and thus the singularity problem in fast terminal sliding mode control is avoided directly.The finite-time convergence of tracking errors and synchronization errors is guaranteed with the proposed strategy.Simulation results show that the satisfying tracking and synchronization performance are still guaranteed in the presence of the input saturation.