Decentralized Adaptive Coordinated Control of Multiple Robot Arms for Constrained Tasks

This paper presents a distributed adaptive coordinated control of multiple robot arms grasping a common object that is constrained by known environment. 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 asymptotic stability of motion is proven by the Lyapunov-like Lemma. An experiment involving two robot arms handling a common object constrained by a cylindrical plane is shown.