An Adaptive Coordinated Control Scheme for Multi-Manipulator Systems

In this paper, the problem of adaptive coordinated control of multiple robot arms transporting an object is addressed. A concise dynamic model is proposed, which is amiable to controller design and stability analysis. Based on this dynamic model, an adaptive scheme for both trajectory tracking control and internal force control is presented. Detailed analyses on tracking properties of the object position, velocity and the internal forces exerted on the object are given. The paper shows that this control scheme can achieve satisfactory tracking performance without using the measurement of contact forces and their derivatives. In addition, some implementation issues for the scheme are discussed.

[1]  C. Alford,et al.  Coordinated control of two robot arms , 1984, ICRA.

[2]  S. Hayati.  Hybrid position/Force control of multi-arm cooperating robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  K. Narendra,et al.  Stable model reference adaptive control in the presence of bounded disturbances , 1982 .

[4]  Roberto Horowitz,et al.  Stability analysis of an adaptive controller for robotic manipulators , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[5]  Tsuneo Yoshikawa,et al.  Dynamics and Stability in Coordination of Multiple Robotic Mechanisms , 1989, Int. J. Robotics Res..

[6]  Michael W. Walker,et al.  Adaptive coordinated motion control of two manipulator arms , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[7]  Lakmal Seneviratne,et al.  Adaptive Control Of Robot Manipulators , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Li-Chen Fu,et al.  Adaptive hybrid control strategies for constrained robots , 1993, IEEE Trans. Autom. Control..

[9]  S. Shankar Sastry,et al.  Adaptive Control of Mechanical Manipulators , 1987, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[10]  Suguru Arimoto,et al.  Cooperative motion control of multiple robot arms or fingers , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[11]  Robert R. Bitmead,et al.  Persistence of excitation conditions and the convergence of adaptive schemes , 1984, IEEE Trans. Inf. Theory.

[12]  Michael W. Walker,et al.  Adaptive control of manipulators containing closed kinematic loops , 1990, IEEE Trans. Robotics Autom..

[13]  K. Narendra,et al.  Bounded error adaptive control , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[14]  Yuan F. Zheng,et al.  Joint torques for control of two coordinated moving robots , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[15]  Keith Glover,et al.  Adaptive Hybrid Control Strategies for Constrained Robots , 1993 .

[16]  Andrew A. Goldenberg,et al.  An adaptive approach to motion and force control of multiple coordinated robot arms , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[17]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .