Bidirectional Servo Automatic Control Method for Redundant Drive Manipulator

Due to the physical characteristics of the actuators and the processing speed of the control system, there may be slight errors in the position of the redundant drive manipulator actuators. A bidirectional servo automatic control method for redundant drive manipulators is proposed. First, a kinematic model of the redundant drive manipulator is established to calculate the total torque of the manipulator; then, based on a four-channel bidirectional servo control method, the total torque of the manipulator is adjusted to minimize the position error between the master and slave actuators and the resultant force error, ensuring the accuracy of synchronous control. Finally, an immune genetic algorithm is used to find the virtual control quantity for minimizing the speed error of the manipulator actuators, thereby designing an adaptive sliding mode controller. Experiments show that this method can achieve bidirectional servo automatic control for redundant drive manipulators, with a maximum control position error of ±0.04°, a maximum resultant force error of –0.99 N m, and the total control error of the angular position of the servo drive actuators under heavy load and high-speed handling conditions all within the range of –2°~4°, meeting the control requirements for the manipulator’s handling production.