Distributed formation control for manipulator end-effectors

This paper addresses the problem of achieving and maintaining 2D/3D formation shape networked manipulator end-effectors. We firstly present a distributed controller for manipulators whose system parameters are perfectly known. The control objective is achieved by assigning virtual springs between end-effectors adding damping terms at joints, which provides clear physical interpretation proposed solution. Subsequently, we extend it to case where kinematic not exactly An extra integrator an adaptive estimator introduced gravitational compensation stabilization, respectively. Simulation results with planar seven degree-of-freedom humanoid arms presented illustrate effectiveness approach.