Abstract
Practical stability of multiple robots for compliant manipulation on dynamic enviroments is addressed in this paper. The complete dynamic model of multiple robots holding a dynamic object is presented. The control task is specified as a task of practical stability of multiple robots around the nominal robot trajectories. An adaptive control law composed of an identification part (parameter update law), and a control law part is synthesized. It has the inverse dynamics controller structure. The test condition for the practical stability of the multiple robots system with the proposed adaptive control law is derived.
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