Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

Abstract

The decentralized adaptive coordinated control of multiple robot arms grasping a common object constrained by a known environment involves the analysis of cases of rigid and rolling contact between end-effectors and object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. Desired motion of the robot arms is generated by an estimated object reference model. The asymptotic stability of motion is proven by the Lyapunov-like lemma. Experimental results for two planar robot arms with 3 DOF moving a constrained object demonstrate the effectiveness of the control scheme.