Adaptive control with impedance of cooperative multi-robot system

Author

Rodriguez-Angeles, Alejandro ; Parra-Vega, Vicente

Author_Institution

CINVESTAV-IPN, Mexico City, Mexico

Volume

2

fYear

1998

Firstpage

1522

Abstract

In this paper it is shown that smooth object maneuvering can be achieved via an adaptive control scheme for cooperative control of multiple manipulators subject to holonomic constraints. Smooth object maneuvering is obtained via a dynamic impedance relationship, Optimal internal forces that ensure a stable grasp are obtained dynamically by linearly constrained gradient flows. Asymptotic stability is proved via a Lyapunov function and smooth performance and convergence are shown via simulations

Keywords

Lyapunov methods; adaptive control; asymptotic stability; cooperative systems; manipulators; optimal control; Lyapunov function; adaptive control; asymptotic stability; cooperative control; cooperative multirobot system; dynamic impedance relationship; holonomic constraints; linearly constrained gradient flows; multiple manipulators; optimal internal forces; smooth convergence; smooth object maneuvering; smooth performance; stable grasp; Adaptive control; Automatic control; Control systems; Cooperative systems; Force control; Impedance; Manipulators; Multirobot systems; Orbital robotics; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677335

Filename

677335