Controller Design of Industrial Cooperative Robots

Urrea-Onate, E; Acosta-Barbosa, K

doi:10.1109/Chilecon.2015.7400355

Controller Design of Industrial Cooperative Robots

Journal

Chilecon 2015 - 2015 Ieee Chilean Conference on Electrical, Electronics Engineering, Information and Communication Technologies, Proceedings of Ieee Chilecon 2015

Date Issued

2016

Author(s)

Urrea-Onate, E

Acosta-Barbosa, K

DOI

https://doi.org/10.1109/Chilecon.2015.7400355

Abstract

This paper deals with the design of control laws to industrial cooperative robotics. The main goal is to design and compare the behavior of different control structure in order to get an effective coordination of two manipulators. It is assumed that both manipulators have the same dynamical and a master slave strategy is used. For both master and slave manipulators, a combinations of PID and fuzzy PD control strategy are proposed. A numerical simulation is presented in order to compare the proposed controllers. © 2015 IEEE.