MOTION AND FORCE CONTROL OF COORDINATED ROBOTS DURING CONSTRAINED MOTION TASKS

The motion of coordinated robots manipulating an object constrained by the contact with an environment, in the presence of uncertainty in th e dynamic models, represents an important class of control problems. I n this article an approach to motion and force control of such multipl e coordinated robots, based on an adaptive scheme, is proposed. Three major variables are regulated simultaneously: the object motion, the c ontact force between the object and the environment, and the internal force. The adaptive controller estimates the unknown parameters of the coordinated robots and object in terms of certain error equations. Th e convergence of the motion, contact, and internal force errors is ana lyzed using Lyapunov stability theory. The proposed controller is also experimentally evaluated on two coordinated AdeptOne robots. In compa rison with fixed parameter controllers, the experimental results show that the proposed controller improves the object motion, contact, and internal force tracking accuracy for a class of robotic systems with u ncertain knowledge of the dynamic model.