Design of an Algorithm for Coordinated Control of Two Robots Performing Cooperative Manipulation along a Pre-Defined Path

The study considers the problem of designing a control algorithm for two robots of arbitrary structure whose grippers hold a shared manipulation object. The grippers form a rod structure. The force parameters of the gripper units have limitations. The control loop operates on the basis of feedback on small displacements using sensors that record displacements of the gripper of the coupled robot relative to the nominal position. Three variants of synthesis of the control algorithm for the force balance of the grippers are considered: compensation algorithm, acceleration algorithm, and differential algorithm with determination of kinematic errors. Relationships to be used in implementation of control of the stress-strain state of actuators at the gripping points of the object of manipulation are obtained.