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Cooperative Force Control of two Multi-Link Manipulators

As application of manipulators in industry increases, the coordination among manipulators becomes an issue of importance. One class of coordination, which we refer to as collision avoidance, involves manipulators which execute essentially independent working sequences, but share a common workspace. A second class of coordination, which can be thought of as cooperation, occurs when two or more manipulators execute simultaneous and related working sequenices which require precise manipulator-to-manipul1ator contact, perhaps via a tool and a workpiece. After we bring two manipulators into contact, the most important quantities to be controlled are usually the relative position and the interacting force between the workpiece and the end-effector of each manipulator during .operations on that workpiece. We give a systematic procedure for design of the cooperative position control structure for two coordinated manipulators [13. In our design, the concepts of external linearization and output decoupling are used [2] [4]. We propose prototype pole-placement design and in particular, the Bessel prototype, with its "time delay" characteristic behavior [5), as an appropriate design approach for the high-order robotic system. In this paper, we demonstrate that the design procedure shown in [1] is applicable to the design of cooperative force control structure as well.