Adaptive two-time-scale position control of multiple flexible manipulators

An adaptive self-tuning control scheme is developed in the independent generalized coordinates for position control of multiple flexible manipulators. First, a suitable model is derived for multiple cooperating manipulators holding a common workpiece. Then flexibility is included in the model where each flexible link is modelled by two rigid sublinks connected by a fictitious joint. The relatively high stiffness of the flexible links is used to decompose the model into two subsystems operating at different rates, and a two-time-scale control is applied to achieve the desired position tracking. Finally adaptive estimation of the manipulator parameters is proposed to achieve a control scheme which is suitable for on-line applications.