Q. Bai, Pengcheng Li, W. Tian, Jianxin Shen, Bo Li, Junshan Hu
{"title":"双机械手协作系统视觉引导动态同步路径跟踪控制","authors":"Q. Bai, Pengcheng Li, W. Tian, Jianxin Shen, Bo Li, Junshan Hu","doi":"10.1115/1.4062546","DOIUrl":null,"url":null,"abstract":"\n Compared with a single manipulator manufacturing cell, a dual manipulator cooperative system has more advantages in reconfigurability and flexibility. However, there are calibration errors and multi-source disturbances in the collaborative process, which lead to the processing trajectory accuracy defects of large-scale associated machining features. To solve the above problems, a practical path tracking synchronous control algorithm is proposed based on position based visual servoing (PBVS) in this paper for the dual manipulator cooperative system, the proposed dynamic cross-coupled sliding mode controller (DCSMC) scheme can realize dynamic paths correction while executing the pre-planned paths. Moreover, since the cross-coupled technology is integrated into the proposed control algorithm for dynamic path tracking based on the real-time feedback of the highly repeatable 3D visual measurement instrument (VMI), both the tracking and synchronous errors of the dual manipulators converge to zero. Finally, the stability of the proposed controller has been verified by the Lyapunov method. In the end, the real-time line and circle path tracking experimental results using two industrial manipulators demonstrate that the proposed scheme can achieve better synchronous tracking accuracy than the independent control scheme.","PeriodicalId":16299,"journal":{"name":"Journal of Manufacturing Science and Engineering-transactions of The Asme","volume":null,"pages":null},"PeriodicalIF":2.4000,"publicationDate":"2023-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Vision guided dynamic synchronous path tracking control of dual manipulator cooperative system\",\"authors\":\"Q. Bai, Pengcheng Li, W. Tian, Jianxin Shen, Bo Li, Junshan Hu\",\"doi\":\"10.1115/1.4062546\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\n Compared with a single manipulator manufacturing cell, a dual manipulator cooperative system has more advantages in reconfigurability and flexibility. However, there are calibration errors and multi-source disturbances in the collaborative process, which lead to the processing trajectory accuracy defects of large-scale associated machining features. To solve the above problems, a practical path tracking synchronous control algorithm is proposed based on position based visual servoing (PBVS) in this paper for the dual manipulator cooperative system, the proposed dynamic cross-coupled sliding mode controller (DCSMC) scheme can realize dynamic paths correction while executing the pre-planned paths. Moreover, since the cross-coupled technology is integrated into the proposed control algorithm for dynamic path tracking based on the real-time feedback of the highly repeatable 3D visual measurement instrument (VMI), both the tracking and synchronous errors of the dual manipulators converge to zero. Finally, the stability of the proposed controller has been verified by the Lyapunov method. In the end, the real-time line and circle path tracking experimental results using two industrial manipulators demonstrate that the proposed scheme can achieve better synchronous tracking accuracy than the independent control scheme.\",\"PeriodicalId\":16299,\"journal\":{\"name\":\"Journal of Manufacturing Science and Engineering-transactions of The Asme\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.4000,\"publicationDate\":\"2023-05-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Manufacturing Science and Engineering-transactions of The Asme\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4062546\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, MANUFACTURING\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Manufacturing Science and Engineering-transactions of The Asme","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1115/1.4062546","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, MANUFACTURING","Score":null,"Total":0}
Vision guided dynamic synchronous path tracking control of dual manipulator cooperative system
Compared with a single manipulator manufacturing cell, a dual manipulator cooperative system has more advantages in reconfigurability and flexibility. However, there are calibration errors and multi-source disturbances in the collaborative process, which lead to the processing trajectory accuracy defects of large-scale associated machining features. To solve the above problems, a practical path tracking synchronous control algorithm is proposed based on position based visual servoing (PBVS) in this paper for the dual manipulator cooperative system, the proposed dynamic cross-coupled sliding mode controller (DCSMC) scheme can realize dynamic paths correction while executing the pre-planned paths. Moreover, since the cross-coupled technology is integrated into the proposed control algorithm for dynamic path tracking based on the real-time feedback of the highly repeatable 3D visual measurement instrument (VMI), both the tracking and synchronous errors of the dual manipulators converge to zero. Finally, the stability of the proposed controller has been verified by the Lyapunov method. In the end, the real-time line and circle path tracking experimental results using two industrial manipulators demonstrate that the proposed scheme can achieve better synchronous tracking accuracy than the independent control scheme.
期刊介绍:
Areas of interest including, but not limited to: Additive manufacturing; Advanced materials and processing; Assembly; Biomedical manufacturing; Bulk deformation processes (e.g., extrusion, forging, wire drawing, etc.); CAD/CAM/CAE; Computer-integrated manufacturing; Control and automation; Cyber-physical systems in manufacturing; Data science-enhanced manufacturing; Design for manufacturing; Electrical and electrochemical machining; Grinding and abrasive processes; Injection molding and other polymer fabrication processes; Inspection and quality control; Laser processes; Machine tool dynamics; Machining processes; Materials handling; Metrology; Micro- and nano-machining and processing; Modeling and simulation; Nontraditional manufacturing processes; Plant engineering and maintenance; Powder processing; Precision and ultra-precision machining; Process engineering; Process planning; Production systems optimization; Rapid prototyping and solid freeform fabrication; Robotics and flexible tooling; Sensing, monitoring, and diagnostics; Sheet and tube metal forming; Sustainable manufacturing; Tribology in manufacturing; Welding and joining