Control Laws synthesis of multi-arm cooperating robots with elastic interconnection at the contacts

The problem of the control of the object cooperative manipulation during th e work of multiple non-redundant six degrees-of-freedom manipulators is con sidered in this paper. The problem of the cooperative manipulation control is, like all its problems, solvable only if the system is considered as the elastic one, taking into account all existing constraints. The controlled system is with the output number greater than the available number of input s, therefore, in the first stage the desired motions are selected from the set of the possible nominal ones, containing the trajectories of the manipu lated object mass centre and slave manipulators contacts. Afterward, the cl assification of control tasks is performed. The procedure for the calculati on of the driving torques introduced into the joints of the manipulators, n ecessary to obtain the nominal trajectory tracking, is proposed. The theore tical analysis of cooperative system closed loop behaviour is exposed, part icular attention being paid to the uncontrolled variables. The procedure is illustrated on the example of the simple closed loop cooperative system, c onsisting of the manipulated object and two one degree-of-freedom manipulat ors. For this system, the behaviour is determined and the driving torques a re calculated.