Adaptive Coordinated Control Of Multiple Manipulators Handling A Constrained Object

Adaptive motion, internal force, and external contact force control of multiple manipulators handling a constrained object is solved in this paper. Parametric uncertainties may exist in the manipulators and in the object as well as in the friction coeficients of contact surfaces. A set of transformed dynamic equations are obtained in the joint space, in which internal force and external contact force have the same form and, thus, can be dealt with in the same way. Based on some particular properties of a reformulated motion andforce equation, an adaptive algorithm is developed with unknown parameters updated by both motion and force tracking error. The suggested adaptive controller guarantee asymptotic motion and force tracking without any persistent excitation condition, and has a PI type force feedback control structure with a low P-gain so that acausalityproblem is avoided. Robustness to bounded velocity and force measurement noise as well as disturbances of the controller is also discussed.