Release Time:2019-03-11  Hits:

Indexed by: Conference Paper

Date of Publication: 2015-08-24

Included Journals: Scopus、CPCI-S、EI

Volume: 9245

Page Number: 396-407

Key Words: Cross-coupled control; Synchronization error; Coordinated control; Load compensation

Abstract: 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.