Synchronized Motion Control of Dual Robot Manipulator Systems
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Date
2020-09-14
Authors
Cetin, Cem Berke
Journal Title
Journal ISSN
Volume Title
Publisher
University of Waterloo
Abstract
Dual manipulator systems are capable of accomplishing a variety of tasks, such as manipulating
large and heavy objects and assembling parts, that might be impossible for
single manipulators. These collaborative tasks require dual manipulators to be driven by
a controller that can coordinate and synchronize the motions of the individual manipulators.
Furthermore, many domestic and industrial applications involve the manipulation of
objects with unknown properties. For instance, a cooking robot would have to deal with
many ingredients of di erent sizes and weights. In this thesis, an adaptive synchronous
controller for dual manipulator systems, that is capable of motion synchronization while
manipulating objects of unknown properties, is presented. This controller only utilizes
position information, hence does not require extra instrumentation, such as force sensors,
often not found in industrial manipulators. The performance of the controller is validated
through simulations which showed that the inclusion of motion synchronization errors in
controller design is critical in accomplishing collaborative tasks. The real-life implementation
details are also discussed.
Description
Keywords
adaptive control, dual manipulator systems, motion synchronization, controller design