Research on control strategies for joint point tracking in coordinated motion of dual-redundant robots
GAO Lin
ZHANG Zhiyuan
WANG Shaofeng
SHI Yanqing
YU Pengwei
LIANG Chaohui
Abstract：[Objective]With the complexity of operational tasks,the dual-redundant robots have more operational flexibility and adaptability than the six-DOF robot arms.Aiming at the security problems in the information interaction and coordinated motion between the control systems of dual-redundant robots,a position-based alternate master-slave control strategy was proposed for a dual-redundant robot,with the master arm as"Leader"and the slave arm as"Follower".[Methods]A positional constraint relation was established for the master-slave control of a dual-redundant robotic system.Combined with the joint point tracking,real-time positional parameters during motion were captured.The mapping of each node position on the closed chain motion path of the dual-redundant robot system was realized based on the time interpolation.[Results]The test results show that the maximum error between the real-time tracking point parameters of each joint and the actual node position parameters of the dual-redundant robot system under arbitrary attitude is 0.465 mm,which realizes the virtual and real interactive trajectory mapping,and provides accurate position data for the application of collision detection algorithm in the actual dual-redundant robot system.
Keywords：Dual-redundant robotPosition trackingCooperative controlMaster-slave control
Publication Date：2025-06-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：11( 25-35 )