Modeling the behavior of Cooperative material handling robots

摘要

Robotic manipulators are types of non-linear systems that are used for carrying objects in different environments. Here, a two-robots system is introduced which is consisted as a two-robotic manipulators with three degrees of freedom. These two robots are used to carry a light beam as a cooperative system. Light beam is consisted as a highly sensitive material. In this paper, a controller for controlling a combination of two robots system is presented to carry the sensitive beam with minimal trauma and shock along the road to achieve the destination. In this controller, we have considered angle changes of beam related to road. Hence, this controller is an integration of fuzzy controller and PID controller. Moreover, two other models are considered to compare with the introduced model. One model consists of PID controller with Ziegler-Nichole's model and the other one contains fuzzy controller. In the integrated controller section in this paper, combination model has expressed fully. In this part, we compared the simulation results obtained from three models. The simulation results show that integrated controller introduced in this paper carries very sensitive beam with minimal angle changes along the road.