Neural network control of two 6 DOF electrically driven cooperating robot manipulators carrying a rigid object

In this paper, dynamic modeling and neural network control of two cooperating 6 DOF elbow manipulators handling a rigid object are studied when actuator dynamics is considered as an important part of the system dynamics. First, a kinematic model of the system and the relations between various forces/torques acting on the object by using different Jacobians, and also the dynamics of the mechanical subsystem are derived. Then, the actuator dynamics of each robot is included in the dynamic equations of the robotic system and a third order matrix equation is obtained. Finally, a neural network control scheme is developed for this third order dynamics and an appropriate Lyapunov function is established. The proposed controller guarantees asymptotic behavior for tracking the object desired trajectory. Numerical simulation of the cooperating robotic system in the presence of uncertainties is provided to demonstrate the robust performance of the proposed control scheme.