Model-Based Synchronized Control of a Robotic Dual-Arm Manipulator

Simulation results for control technique (CTC), applied to a cooperative robotic system comprising of two robotic arms of 5DOF each, are illustrated in this paper. Algorithm for a separate synchronization control technique, which allows for dual manipulation, is also illustrated. The system in consideration is used to manipulate a rigid payload on a desired trajectory from desired initial to final orientation and position (within the workspace of the system). The forward and inverse kinematics equations are formulated and the corresponding problems for the system dual arms are solved. The constraints of dynamic equations of motion, for the system in consideration, are utilized to obtain the combined required equations for the payload and both the arms. The presented dynamic model for the system is based on Lagrange equations of motion. The control algorithm makes use of measurements of acceleration, velocity, and coordinates of the object. To demonstrate the performance of the control technique, simulation results for the control torque of the three main joints are provided. The durability of the proposed control algorithm is tested while taking into consideration, disturbance, and uncertainty.