Decentralized adaptive coordinated control of multiple robot arms without using a force sensor

被引：56

作者：

Kawasaki, H ^{[1
]}

Ueki, S ^{[1
]}

Ito, S ^{[1
]}

机构：

[1] Gifu Univ, Fac Engn, Gifu 5011193, Japan

来源：

AUTOMATICA | 2006年 / 42卷 / 03期

关键词：

coordinated robots; robotic manipulator; adaptive control; force/position control; Lyapunov stability;

D O I：

10.1016/j.automatica.2005.11.009

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a distributed adaptive coordinated control method for multiple robot arms grasping a common object. The cases of rigid contact and rolling contact are analyzed. 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 control method requires only the measurements of the positions and velocities of the object and robot arms, but not the measurements of forces and moments at contact points. The asymptotic convergence of trajectory is proven by the Lyapunov-like Lemma. Experiments involving two robot arms handling a common object are shown. (C) 2005 Elsevier Ltd. All rights reserved.

引用

页码：481 / 488

页数：8

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