Task-Space Consensus of Networked Robotic Systems: Separation and Manipulability

In this paper, we investigate the task-space consensus problem for multiple robotic systems with both the uncertain kinematics and dynamics in the case of existence of constant communication delays. We propose an observer-based adaptive controller to achieve the manipulable consensus without relying on the measurement of task-space velocities, and also formalize the concept of manipulability to quantify the degree of adjustability of the consensus value. The proposed new control scheme employs a new distributed observer that does not rely on the joint velocity, and a new kinematic parameter adaptation law with a distributed adaptive kinematic regressor matrix that is driven by both the observation and consensus errors. In addition, it is shown that the proposed controller has the separation property, which yields an adaptive kinematic controller that is applicable to most industrial/commercial robots. The performance of the proposed observer-based adaptive schemes are shown by numerical simulations.