M.rtsr-ldper Control Strategy to Robotic Syatms L T M C K B an O B K T Smbjsct To

Abotrut. A hierarchical control strategy is developed in thispaper for robotic systems (multiple robots systems) holding a rig. id body to track a given motion in the presence o f enviromrntal con. draintl. New mathematical formulation to the enviromental con. dralnts is introduced which is simple enough in many caws. The control b constructed following a master-helper control scheme in which the global controller is realised by a self-organizing algorithm. Simulations show that the tracking enom are negligiblly small.