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JRM Vol.18 No.5 pp. 580-588
doi: 10.20965/jrm.2006.p0580
(2006)

Paper:

Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

Haruhisa Kawasaki, Rizauddin Bin Ramli, and Satoshi Ueki

Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Received:
November 7, 2005
Accepted:
June 5, 2006
Published:
October 20, 2006
Keywords:
coordinated robots, robotic manipulator, adaptive control, force/position control, Lyapunov stability
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.

Cite this article as:
Haruhisa Kawasaki, Rizauddin Bin Ramli, and Satoshi Ueki, “Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks,” J. Robot. Mechatron., Vol.18, No.5, pp. 580-588, 2006.
Data files:
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