Cross-coupled motion controller for two cooperating robot arms

A novel structure of cross-coupled observer-based controller for two manipulators which are cooperatively handling an object is proposed. The suggested cross coupling control is based on the idea of simulation of friction and stiffness of a virtual mechanical link which couples two electrical drives. The structure enables synchronous motion of the drives by velocity and angle positions of their shafts in the presence of constant reference signals and slow varying load torque disturbances. The design procedures of a common position controller, cross-coupling control and appropriate state observer are proposed. Results of analytical design are verified by simulation runs.