Decentralized Impedance Control of Nonredundant Multi-manipulator Systems

Abstract

In this paper, we propose a decentralized control scheme for combined motion/force control of nonredundant multi-manipulator robotic systems, cooperatively grasping a rigid body in a prespecified position/force trajectory. The proposed control scheme uses the impedance method for modeling the internal force exerted by the end effectors to the object. The precise mathematical analysis of the overall dynamical system and the proposed controller are presented and the stability of the overall system is studied. The proposed controller, then, is applied to a cooperative system composed of two PUMA560 manipulators and the simulation results are presented to verify the proposed control scheme.