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<p>Substation dual-arm manipulation robots are capable of performing precise operational tasks in confined and high-risk environments. However, during cooperative operations, synchronization errors frequently arise due to kinematic discrepancies, dynamic coupling, and external disturbances between the two arms. As a result, the normal-direction errors of the left and right arms, along with the coordinated tracking error, remain relatively large, leading to deviations in the joint angles of both robotic arms in the vertical and horizontal directions. These deviations increase operation time and significantly impair task accuracy and efficiency. To address this issue, this paper proposes a coordinated control method for dual-arm manipulation robots in substations based on normal-direction synchronization error compensation. The method involves analyzing the kinematic and dynamic characteristics of the dual-arm robot to identify error sources and then calculating the coupling relationship between the end-effector trajectory error and the normal-direction synchronization error of the dual-arm system. Based on this coupling analysis, a normal-direction synchronization error compensator is designed, and a nonlinear disturbance observer with exponential convergence is developed to estimate and compensate for unmodeled dynamics and external disturbances. The observer gain matrix is designed to ensure the stability of the observer error dynamics, balancing convergence speed and noise sensitivity. The control law for the corresponding compensation controller is derived, and a closed-loop control system is constructed to achieve coordinated control of the dual-arm manipulation robot. Computational overhead analysis shows that the proposed method operates within a 1&#xa0;ms control cycle on standard hardware, satisfying real-time requirements. Experimental results demonstrate that, after compensating for the coupling error using the proposed method, the normal-direction errors of the left and right arms are both below 1.2°. The compensation control is completed within 0.5&#xa0;s, and the coordinated error remains within ±0.01&#xa0;rad. Moreover, the joint angle deviations of the robotic arms in the vertical and horizontal directions are less than 2°, and the total operation time of the robot, accounting for the coupling error, is less than 8.57&#xa0;s. .</p>

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A coordinated control method based on normal synchronization error compensation for a substation dual-arm manipulation robot

  • 期刊论文

  • 发表日期：

    2026年7月17日

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  • Jiexiong Zhang,
  • Xiangqiang Liu,
  • Hua Zhan,
  • Xuyue Chen,
  • Leqin Qiu

摘要

Substation dual-arm manipulation robots are capable of performing precise operational tasks in confined and high-risk environments. However, during cooperative operations, synchronization errors frequently arise due to kinematic discrepancies, dynamic coupling, and external disturbances between the two arms. As a result, the normal-direction errors of the left and right arms, along with the coordinated tracking error, remain relatively large, leading to deviations in the joint angles of both robotic arms in the vertical and horizontal directions. These deviations increase operation time and significantly impair task accuracy and efficiency. To address this issue, this paper proposes a coordinated control method for dual-arm manipulation robots in substations based on normal-direction synchronization error compensation. The method involves analyzing the kinematic and dynamic characteristics of the dual-arm robot to identify error sources and then calculating the coupling relationship between the end-effector trajectory error and the normal-direction synchronization error of the dual-arm system. Based on this coupling analysis, a normal-direction synchronization error compensator is designed, and a nonlinear disturbance observer with exponential convergence is developed to estimate and compensate for unmodeled dynamics and external disturbances. The observer gain matrix is designed to ensure the stability of the observer error dynamics, balancing convergence speed and noise sensitivity. The control law for the corresponding compensation controller is derived, and a closed-loop control system is constructed to achieve coordinated control of the dual-arm manipulation robot. Computational overhead analysis shows that the proposed method operates within a 1 ms control cycle on standard hardware, satisfying real-time requirements. Experimental results demonstrate that, after compensating for the coupling error using the proposed method, the normal-direction errors of the left and right arms are both below 1.2°. The compensation control is completed within 0.5 s, and the coordinated error remains within ±0.01 rad. Moreover, the joint angle deviations of the robotic arms in the vertical and horizontal directions are less than 2°, and the total operation time of the robot, accounting for the coupling error, is less than 8.57 s. .