Dynamics and Control of Collaborative Robot Manipulators

The kinematics and dynamic relations of manipulators as well as the object are studied. The combined dynamics of the system is obtained with the help of coalescing the dynamics of manipulators and the object. In order to avoid the complex calculations of regressor, a robust adaptive control (RDC) law is formulated. The benefits of designed controller: the control law is given with the help of simple scalar functions and it involves only four parameters to be estimated which is independent of number of robots. This control approach is also valid when more number of links are considered for each of the robot. Simulation and stability analysis are presented to validate the proposed control.