Guichao Cai, Yutong Zeng, Yuzhang She, Haocong Zheng, and Yingxuan Zhuang
Joint angular acceleration, dual-arm robot, adaptive, cooperative equilibrium control, sliding mode variable structure, fuzzy compensated control
In robot handling, due to uneven load distribution, dynamic inertia force change and external interference, the angular acceleration of each joint easily exceeds the limit value, which seriously affects the handling trajectory accuracy. To realise coordinated and balanced motion of each joint of its dual arm, it is necessary to implement accurate control of each joint under the constraint of the coordinated trajectory of each joint. Therefore, an adaptive coordinated and balanced control method for a dual-arm robot considering the constraint of the joint angular acceleration is studied. Combined with Lagrange’s second type equation, the dynamic model of the dual-arm robot is constructed, and the angular acceleration constraints of the robot’s dual arm joints are set according to the model. With this constraint as input, an adaptive fuzzy model of the robot is constructed. Combining the sliding mode variable structure controller and adaptive fuzzy compensation controller, the robot adaptive fuzzy model is controlled by considering the expected trajectory of each joint of the robot arm as the input. In this study, sinusoidal vibration interference was employed with an amplitude of 0.5 m/s2 and a frequency of 5 Hz. These parameters simulate common equipment vibration disturbances encountered in industrial environments. Results indicate that under normal operating conditions, the angular acceleration of each joint in the robot’s manipulation process remained within limit values when controlled by this method, with no significant difference in angular acceleration between the two arms’ joints. The actual motion trajectories of each joint in the dual-arm system closely matched the predefined target trajectories, with an average trajectory tracking error of 0.062 rad and a maximum deviation below 0.08 rad, enabling coordinated and balanced dual-arm operations. Under vibration disturbance conditions, this method still ensured that both arms' joints satis ed angular acceleration constraints during robotic manipulation while maintaining consistency between them. The average trajectory tracking error across all joints of the robotic arms was 0.078 rad, with a maximum deviation of 0.13 rad between the actual and desired trajectories. The overall control performance demonstrated stability, e ectively countering external vibration disturbances to ensure coordinated, balanced, and stable operation of both arms during robotic tasks.
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