Abolfazl Motahari Zad - Babol Nooshirvani University of Technology
Mohammad Hasan Ghasemi - Babol Nooshirvani University of Technology
Morteza Dardel - Babol Nooshirvani University of Technology

The Control of cooperative robot manipulators has been studied by many researchers; most of researches were hybrid position-force control in theobject coordinate space. Hence, in this study the trajectory tracking of cooperative manipulator in joint space is investigated. Furthermore, flexibility of manipulators links, joints, object and friction are ignored. The current study seeks a procedure to design a hybrid Fuzzy PID computed torque controllertuned with PSO algorithm for trajectory tracking of cooperative manipulators. In the first section, dynamic model of the cooperative manipulator, kinematicrelations and equations of motion for manipulated object are presented. After that, the dynamic equations are developed in the joint coordinate space. In thesecond section, a hybrid fuzzy PID computed torque control tuned with PSO is presented by combining the computed torque control, fuzzy PID controller andPSO algorithm techniques. Numerical simulations shown that, the proposed method in comparison with computed torque controller has better prosperity in presence of uncertainties and disturbances.

Fuzzy – computed Torque Control – PSO – Cooperative Manipulators