Abstract:

Two heavy manipulators need to be controlled coordinately when they are grasping one workpiece to avoid the damage of the workpiece. A whole coordinate control method is designed, which includes a decisionmaking layer and an execution layer. First, an objective model for the decision tree is proposed by means of constructing a new fuzzy neural network, which especially adapts to process identification. Then a new kind of decision tree with membership function is designed to provide uplayer coordinate policy and fuzzy input of each singlecontroller in the lowlayer. Finally, the fuzzy neural network controller executes the policy and thus to complete the whole adaptive coordinate control of the two heavy manipulators. The proposed coordinate control method is verified by simulation of the manipulators and experiments of hydraulic cylinders in comparison with passive compliance and PID control.

Key words: computer application, decision tree, fuzzy neural network, heavy manipulator, coordination control