Network-Based Cooperative Synchronization Control of 3 Articulated Robotic Arms for Industry 4.0 Application

This project presents a Control Area Network (CAN) based Cooperative Synchronization Control of three articulated robotic arms for Industry 4.0 application. Demand on multi-robot system increases as a result of its flexibility and ability on handling complex task, especially in the era of our nation approaching Industry 4.0. In this project, three robotic arms will be commissioned to synchronize with each other to perform a cooperative task. The cooperative setup employs a multi-agent-inspired framework. A leader agent is assigned to one of the robotic arms which has full knowledge on the desired trajectory signal whereas the other follower agents have partial information. CAN bus will be used as a means of communication between the three robotic arms due to its ease of convenience in terms of configuration and future extension. An intelligent cooperative phase lead controller is to be designed, developed and implemented to guarantee smooth synchronizing motions of robot arms. Experimental frequency response approach is used to identify the input-output model of each joint of each robot agent i. Discrete phase lead controller is designed from the transfer function obtained. The CAN bus network is designed so that slave robot get cooperative consensus error from each other as input signal. The distributed cooperative control robot system is successfully developed. The slave robots tracks the master robot successfully.