Position Tracking of Multiple Robotic Manipulator Systems Associated with Communication Strength Dynamics

Area of Science:

• Robotics
• Control Systems Engineering
• Systems Theory

Background:

• Multiple robotic manipulator systems (MRMS) often face uncertainties and complexities arising from coupled subsystems.
• The dynamics of communication strength between robotic manipulators significantly impact system performance and stability.
• Existing control strategies may not adequately address the coupled nature of robotic manipulator subsystems (RMS) and communication strength subsystems (CSS).

Purpose of the Study:

• To propose a novel position tracking control scheme for MRMS that explicitly considers communication strength dynamics.
• To develop a control strategy that integrates control protocols for the RMS and coupling relationships within the CSS.
• To achieve precise position tracking for MRMS operating under coupled subsystem conditions.

Main Methods:

• Construction of a dynamical mathematical model for both the robotic manipulator subsystem (RMS) and the communication strength subsystem (CSS) within the MRMS.
• Design of a two-part control scheme: a control protocol for the RMS and a coupling relationship design for the CSS.
• Inclusion of stability analysis to provide a theoretical foundation for the proposed control scheme.

Main Results:

• The proposed control scheme effectively integrates RMS control protocols and CSS coupling relationships.
• Demonstration of the capability to achieve accurate position tracking for the MRMS.
• Validation of the control scheme's effectiveness through an illustrative example.

Conclusions:

• The developed control scheme offers a robust solution for position tracking in uncertain MRMS with coupled subsystems.
• Considering communication strength dynamics is crucial for enhancing the performance of multiple robotic manipulator systems.
• The proposed method provides a theoretical and practical framework for advanced robotic control applications.