Compliant motion control for handling a single object by two similar industrial robots
This work addresses coordination challenges in industrial automation, but it appears incremental as it builds on existing master-slave synchronization methods for piecewise linear systems.
The paper tackles the problem of coordinating two industrial robots to handle a single object by proposing a compliant motion control strategy, resulting in simulation-based performance validation and comparison to a related approach.
In this paper, we propose a compliant motion control strategy for handling a single object by two similar industrial robots. The dynamics of the object carried by the two robots is assimilated to the dynamics of a mass-spring-damper system described by a piecewise linear model (PWA). The coordination of the two robots is accomplished using a master slave synchronization approach dedicated for PWA systems, based on the Lyapunov theory, and solved via Linear Matrix Inequalities (LMIs). The performances of the proposed approach are proved by simulation results and compared to a related approach.