Adaptive coordination of a multiple manipulator system

The main problem in controlling a multiple manipulator system is the conflicting actions of the manipulators. This conflict is mostly due to the geometric modeling error or the discrepancy between the reference trajectories of the controllers. A control scheme that minimizes the conflict action by adjusting the reference trajectory of each controller is proposed. This adaptation process is accomplished without explicit communication between controllers. The scheme was verified by computer simulations and experiments on a dual-manipulator system. Simulation and experimental results are included