Adaptive coordinated control of multiple manipulators handling a constrained object

Adaptive motion, internal force, and external contact force control of multiple manipulators handling a constrained object is achieved. Parametric uncertainties may exist in the manipulator and in the object as well as in the friction coefficients of contact surfaces. A set of transformed dynamic equations are obtained in the joint space, in which internal force and external contact force have the same form and, thus, can be dealt with in the same way. Based on some particular properties of a reformulated motion and force equation, and adaptive algorithm is developed with unknown parameters updated by both motion and force tracking error. The controller guarantees asymptotic motion and force tracking without any persistent excitation condition and has a proportional-integral (PI) force feedback control structure with a low P-gain, so that acausality is avoided. Robustness to bounded velocity and force measurement noise as well as to disturbances of the controller is discussed