Analysis of a Motion-Coupled Disturbance Suppression Model for Cooperative Multi-Robot Arm Operations

Abstract

This paper proposes a motion-coupled disturbance suppression model for cooperative multi-robot arm operations. Kinematic constraints are established across joint, end-effector, and workpiece spaces, and a coupled disturbance estimator is constructed from end-effector pose error, force feedback, velocity synchronization deviation, and neighboring-arm states. Adaptive compensation control and dynamic cooperative weight adjustment are then used for real-time suppression. Dual-arm and triple-arm simulations cover rigid blocks and flexible plate-like workpieces under 5-15 kg loads, 50-150 ms trajectory delays, force-feedback noise, and flexible deformation. Compared with PID, impedance control, conventional cooperative control, and two sliding-mode disturbance-observer baselines, the proposed MCDS-MA model reduces average trajectory error to 1.21 mm, corresponding to a 73.8\% reduction relative to PID and a 22.9\% reduction relative to ASMDOB; force fluctuation standard deviation and pose deviation are reduced to 1.46 N and 0.48°, respectively. The flexible-workpiece case retains 1.36 mm tracking error, and parameter ablation verifies the rationality of the selected disturbance weights and adaptive coefficient.