Adaptive decentralized coordinated control of multiple robot arms

Abstract

This paper presents an adaptive decentralized coordinated control method for multiple robot arms grasping a common object. In the proposed controller, the dynamic parameters of both object and robot arms are estImated adaptively. The desired motions of the robot arms are generated by an estimated object reference model and each robot controller works independently as hybrid adaptive controller. The asymtotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Expenmental result for the two robot arms grasping a common object is shown.