Force Sensorless Adaptive Coordinated Control of Multiple Robot Arms

Abstract

This paper presents an adaptive 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. The controller needs measurements of only positions and velocities of the object and robot arms and doesn't need the measurements of forces and moments at contact points. The asymptotic stability of motion is proven by the Lyapunov-Like Lemma. Experiment of the two robot arms handling a common object is shown.