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论文类型：会议论文

发表时间：2015-08-24

收录刊物：EI、CPCI-S、Scopus

卷号：9245

页面范围：396-407

关键字：Cross-coupled control; Synchronization error; Coordinated control; Load compensation

摘要：This work presents a synchronized cross-coupled control strategy for the coordination of multi-manipulators system. In the paper, the model-free synchronization error definition manner for different manipulators is introduced in detail. In addition, the joint actuator load of the system is translated and compensated to further improve the synchronization performance of the system. Taking a typical mirror milling system as the research object, the system model and control model are established, the simulation result shows that the proposed strategy can effectively improve the coordination for multi-manipulators system.