Coordinated motion control of robot arms based on the virtual internal model

An alternative coordinated motion control architecture for robot arms manipulating an object is proposed. The motion and the internal force of the object are resolved in the motion of each arm. Each arm´s control is based on the virtual internal model so as to operate in coordination even if geometric errors exist in the robot arms and the object. The virtual internal model is a reference model driven by sensory information implemented in the controller. The proposed architecture keeps the state of the system bounded even if breakage of the manipulated object occurs. The control algorithm is experimentally applied to the coordinated motion control of two planar robot arms, each of which has three degrees of freedom. The results illustrate the validity of the proposed control architecture