Control algorithm for a cooperative robotic system in fault conditions

This paper expounds a control procedure and a control algorithm with two levels to solve the control problem of a cooperating multi-arm robotic system. This system is composed of a structure like a gripper with n fingers manipulating a usual object. The control system is a hierarchical system. The problems of the inter-coordination and the force distribution are decided by the top tier coordinator which brings together all the appropriate information. This information is directed towards the n inferior level subsystems. The local control is solved by assigning the local controllers based on the inverse model method. The robotic structure is either in a correct position when possible, or by minimising the movements and using the adequate commands to the functional joints, in an acceptable proximity position of the desired co-ordinates. It is also proposed a synthesis of the commands. The paper presents a workspace analysis and an algorithm for the actuators in the terms of a good working for finding the optimal motions by blocking or unblocking some robotic joints.