Modeling of two cooperative manipulators to handle an object

摘要: Trajectory tracking in cooperative manner of robot manipulators the industrial applications is most challenging issue. In needs to consider not only collaborative work on workspace but also has overcome with uncertainties and external disturbances. Based these limitation estimation parameters manipulators, kinds systems have more complex nonlinear dynamic model. face some soft computing methods like fuzzy logic are so sufficient behavior. addition, PID controllers qualified controller because their simple structure implementation. this work, for handling a lightweight beam two road achieve destination proposed hybrid which can reject automatically. This consists elements, controller. Fuzzy employed approximate system. system angular measurement joints considered. To comparison, compares other controllers, conventional Ziegler-Nichol’s method 3-DOF manipulators. Simulation results show better performance than others handle hypersensitive