Dynamic visual servoing of large-scale dual-arm cooperative manipulators based on photogrammetry sensor

The dual-arm cooperative manipulators system has more advantages in reconfigurability and flexibility compared with single manipulator manufacturing cell. However, random and time-varying Cartesian pose errors generated in dual-arm cooperative manipulators will be superimposed to increase the system synchronous error, which makes it difficult to complete the coordinate assembly task. To deal with the above-mentioned problems, in this paper, a novel cooperative mode-based dynamic cross-coupled sliding mode controller (DCSMC) scheme combined with position-based visual servoing (PBVS) is proposed to realize 3D dynamic tracking and positioning by correcting the movement of the dual-arm system in real time. Then, since the cross-coupled technology is incorporated into the proposed synchronous control scheme for the dual-arm system, both the Cartesian position tracking and synchronous errors of the end-effectors will simultaneously converge to zero. Moreover, the stability of the proposed DCSMC has been proved by using the Lyapunov theorem. Furthermore, to effectively demonstrate the control performance of the proposed synchronous control approach, a real-time experimental platform integrated with BECKHOFF industrial computer, C-track 780 photogrammetry sensor from Creaform, and two ESTUN industrial manipulators were developed for the implementation of the proposed DCSMC system. Finally, experimental results illustrate that the proposed scheme can improve the synchronous accuracy up to +/- 0.13 mm for position accuracy and +/- 62.6 x 10(-5) rad for rotational accuracy respectively.