A dynamic modeling and trajectory tracking control method for dual-arm mechanism for cabin docking.

Area of Science:

• Robotics
• Control Systems Engineering
• Mechanical Engineering

Background:

• Accurate control of dual-robotic arm systems is crucial for complex tasks like hatch docking.
• Existing control methods may lack robustness or precision in dynamic environments.

Purpose of the Study:

• To propose and validate a new track tracking control method for a dual-robotic arm hatch docking mechanism.
• To enhance the robustness and accuracy of the docking process using advanced control strategies.

Main Methods:

• Derivation of kinetic and potential energy equations using Lagrange's dynamic equation in a generalized coordinate system.
• Establishment of the Lagrangian dynamic equation for the dual-arm mechanism, incorporating a Stribeck friction model.
• Design and analysis of a collaborative control system featuring a fuzzy backstepping sliding mode controller.

Main Results:

• The proposed fuzzy backstepping sliding mode controller effectively adjusts system gain for improved robustness.
• Software simulations and real experiments confirmed accurate tracking of motion and velocity trajectories.
• Achieved maximum absolute error and standard deviation of axis Angle post-docking were 0.501° and 0.004°, meeting production requirements.

Conclusions:

• The developed control method based on Lagrange dynamics and fuzzy logic significantly enhances dual-robotic arm docking precision.
• The controller demonstrates robust performance and meets stringent accuracy standards for industrial applications.