Adaptive control with impedance of cooperative multi-robot system

In this paper it is shown that smooth object maneuvering can be achieved via an adaptive control scheme for cooperative control of multiple manipulators subject to holonomic constraints. Smooth object maneuvering is obtained via a dynamic impedance relationship, Optimal internal forces that ensure a stable grasp are obtained dynamically by linearly constrained gradient flows. Asymptotic stability is proved via a Lyapunov function and smooth performance and convergence are shown via simulations.

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