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Constrained motion and redundant degrees of freedom control exist in a multi-manipulator collaboration system. In other words, the multi-manipulator collaboration technology must solve the problems of uncertain environment interaction and coordinated control. Few studies have been conducted on the coordination control of a multi-manipulator, and the control effect is not good. To solve the coordinated motion problem of the multi-manipulator cooperative system, this study divides the multi-manipulator coordinated motion into two forms, namely coupled and superimposed motions, and proposes an adaptive coordinated motion constraint scheme under different motion forms. The coupled and superimposed motions are investigated through coordinated handling and coordinated drawing circle tasks, respectively. The proposed coordinated control scheme has a good effect. Without position detection and positioning, the kinematic constraint algorithm can maintain the relative motion relationship between end-effectors. When an external disturbance occurs, the slave manipulator can automatically adjust based on the position of the main manipulator, avoiding error accumulation. The experimental results show a maximum trajectory tracking error of 2.131 mm and maximum attitude error of 0.176°, indicating that the proposed control scheme has strong adaptive ability and high control accuracy. [ABSTRACT FROM AUTHOR]

In this paper, experimental and numerical simulation studies on the forming limit diagram of single-point incremental forming (SPIF) were described. We proposed a novel method for evaluating the forming limit in incremental forming. The proposed method utilizes the forming limit angle and the maximum thinning rate. The effects of the forming and processing parameters on the forming limit of an aluminum sheet during incremental forming were investigated using a combination of simulation analysis and experimental verification. The obtained results show that the forming limit is large for 1060Al and 6061Al when the initial thickness is 1.5 mm for a single parameter change for SPIF. For 1060Al, the step size is in the range of 0.8–1.5 mm. When the step size is 0.8 mm, the incremental forming limit is large and the forming precision is high. For 1060Al and 6061Al, the incremental forming limit is at the maximum level when the tool radius is 6.0 mm, and when the tool radius is 5.0 mm, the best forming precision can be achieved. It is of great theoretical significance and practical engineering value to study the effects of various forming parameters on the forming limit of metal sheet SPIF. [ABSTRACT FROM AUTHOR]