Adaptive Control for Multiple Cooperative Robot Arms
نویسندگان
چکیده
,2= Abstract In this paper, we address the control problem of multiple robots manipulating a load cooperatively. First we propose a controller that ensures the asymptotic convergence of the load position and the internal forces to their desired values. Next we propose an adaptive control scheme for the multi-robot system. The adaptive controller ensures the asymptotic convergence of the load position to their desired values and the boundedness of the internal forces. Finally we consider the effects of bounded disturbances on the multirobot system. We propose an adaptive control law which guarantees the boundedness of the tracking errors and the boundedness of the internal force errors.
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