A Metaheuristic Supervisory Scheme for Cooperative Manipulators

A supervisory scheme for cooperative manipulators is proposed, which is used to determine external commands implemented to the cooperative manipulators system through an appropriate control scheme. The supervisor is used to determine external commands representing the desired trajectories of independently controlled state variables that are not related to the desired positioning of the load, thus they may be arbitrary determined so as to contribute towards the achievement of the performance requirements while satisfying configuration, performance and actuator constraints. The external commands are determined as a metaheuristic solution of a multi‐inequalities constraints problem.