Abstract:
This paper focuses on the synchronizing control of multiple interconnected flexible robotic manipulators
using differential flatness theory. The flatness theory has the advantage of simplifying trajectory tracking
tasks of complex mechanical systems. Using this theory, we propose a new synchronization scheme
whereby a formation of flatness based systems can be stabilized using their respective flat outputs.
Using the flat outputs, we eliminate the need for cross coupling laws and communication protocols
associated with such formations. The problem of robot coordination is reduced to synchronizing the
flat outputs between the respective robot manipulators. Furthermore, the selection of the flat output
used for the synchronizing control is not restricted as any system variable can be used. The problem of
unmeasured states used in the control is also solved by reconstructing the missing states using flatness
based interpolation. The proposed control law is less computationally intensive when compared to earlier
reported work as integration of the differential equations is not required. Simulations using a formation
of single link flexible joint robots are used to validate the proposed synchronizing control.
