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RESEARCH PAPERS

An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robots

[+] Author and Article Information
Yan-Ru Hu, A. A. Goldenberg

Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, Canada, M5S 1A4

J. Dyn. Sys., Meas., Control 115(1), 60-69 (Mar 01, 1993) (10 pages) doi:10.1115/1.2897408 History: Received July 01, 1989; Revised July 01, 1991; Online March 17, 2008

Abstract

In this paper an approach to motion and force control of multiple coordinated robots, based on an adaptive scheme, is developed. The approach can be used to control the motion of an object held by the robots, the contact force between the object and the environment, and the internal force which do not contribute to the object motion and contact force. Three subsystem error equations are generated, i.e., position error subsystem, contact force error subsystem, and internal force error subsystem. The adaptive law is derived to estimate the unknown parameters of the multiple coordinated robots, the object, and the environment in terms of the three error subsystem equations. The convergence of the position, contact, internal force errors, and parameter errors is analyzed based on the Lyapunov stability theory. The paper shows that the adaptive control scheme improves the position, and the internal and contact force tracking accuracy for a class of robotic systems with uncertain knowledge of the dynamic model.

Copyright © 1993 by The American Society of Mechanical Engineers
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