Cartesian-based time delay compensation in leader-follower coordination of two manipulators using polynomial time functions

Coordinated control of two manipulators using discrete position feedback is developed and experimentally tested using a hierarchical multiprocessor architecture and two PUMA robot arms. Leader-follower coordination is adopted because of its computational efficiency. The computation of desired follower arm positions consumes one sampling interval. Another sampling interval is lost due to the fact that a desired follower arm position has to be computed before it can be assumed. Emphasis is placed on the design of a class of prediction equations to compensate for these timing delays