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The purpose of this study is to evaluate the cooperative behavior of two robots under asynchronous conditions. Generally, when multiple robots are used, cooperative behavior can be achieved by controlling them to achieve synchronization through mutual communication. However, it is possible to improve the simplicity of control and robustness of communication by coordinating independent robots. From our previous studies, we believe that it is now possible to easily estimate trajectory accuracy and load using torque and joint angles, but it has been difficult to use this information for the evaluation of cooperative behavior. Therefore, we investigated the influence of the relative joint angle correlation to evaluate efficient cooperation among robots. In addition, relative position and posture errors were examined as an evaluation index of cooperativeness. As a result, we considered that this correlation coefficient has an effect on arm trajectory accuracy and relative error, and contributes as an evaluation index of cooperativeness.

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Estimation of Wire-Driving Cooperative Motion by Two Cooperative Robots Based on Relative Joint Angle Correlation

  • 会议论文

  • 发表日期：

    2026年

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  • Shota Tsujioka,
  • Masao Nakagawa,
  • Toshiki Hirogaki

摘要

The purpose of this study is to evaluate the cooperative behavior of two robots under asynchronous conditions. Generally, when multiple robots are used, cooperative behavior can be achieved by controlling them to achieve synchronization through mutual communication. However, it is possible to improve the simplicity of control and robustness of communication by coordinating independent robots. From our previous studies, we believe that it is now possible to easily estimate trajectory accuracy and load using torque and joint angles, but it has been difficult to use this information for the evaluation of cooperative behavior. Therefore, we investigated the influence of the relative joint angle correlation to evaluate efficient cooperation among robots. In addition, relative position and posture errors were examined as an evaluation index of cooperativeness. As a result, we considered that this correlation coefficient has an effect on arm trajectory accuracy and relative error, and contributes as an evaluation index of cooperativeness.