Publication: Cooperative control of dual robotic arms
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Date
2021-07-01
Authors
Roslee, Hairul Hadee
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Abstract
One of the most challenging obstacles when it comes to designing cooperative dual robotic arm is designing and performing tests on the control algorithms with the robot body. In making sure a safe and reliable control algorithm design, such design must be carefully constructed and systematically verified before implementing on the real robotic arm. This paper describes the control algorithm for a joint space control design of a dual robotic arms for achieving high synchronizations between arms on a new, robotic based, hardware-in-the-loop (HIL) MATLAB Simulink with Arduino Mega 2560 interface. MATLAB Simulink is used to physically simulate the 6-DOF dual arm manipulator for cooperative work. The crucial problems plaguing of dual robotic arm cooperative control simulation were investigated and various solution techniques were examined in this thesis. Joint space control design method was proposed to achieve synchronized cooperative operation between the two arm manipulators in HIL simulation process. Results of the HIL simulations shows the performance and
effectiveness of the proposed design method.