Adaptive synchronized control for coordination of two robot manipulators

A coordination scheme for two-manipulator systems is developed by maintaining a certain kinematic relationship between manipulators using motion synchronization. The coordination strategy is to let each manipulator track its desired trajectory while synchronizing its motion with the other manipulator´s motion so that the differential position error between two manipulators converge to zero. The proposed synchronized controller for each manipulator incorporates the cross-coupling technology into an adaptive control architecture, by feeding back the position error of each manipulator and the differential position error between two manipulators. The proposed algorithm guarantees asymptotic convergence to zero of both position errors and synchronization error. Implementation of this new coordination scheme, which is in a decentralized architecture, is more straightforward. An experiment on two industrial manipulators demonstrates the effectiveness of the proposed approach.