An Adaptive-Robust Control Approach for TrajectoryTracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload

In this paper, .a dual system consisting of two 5 oof (rrrrr) robot manipulators is considered as acooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desiredinitial and end positions/orientations. the forward and inverse kinematic problems are first solved for thedual arm system. then, dynamics of the system and the relations between forces/moments acting on theobject by the robots, using different jacobian matrices, are derived. the proposed control method is aposition control approach; therefore, it does not need the complexity of measurement of forces and momentsat the contact points. simulation results are provided to illustrate the performance of the control algorithm.the robustness ofthe proposed control scheme is verified in the presence of disturbance and uncertainty.