Decentralized Adaptive Coordinated Control of Multiple Robot Arms Handling One Object

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 asymptotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Experimental comparisons between adaptive control with force sensor and one without force sensor for the two robot arms grasping a common object are shown.

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