DocumentCode :
2412454
Title :
Adaptive control for multiple cooperative robot arms
Author :
Zribi, Mohamed ; Ahmad, Shaheen
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., West Lafayette, IN, USA
fYear :
1992
fDate :
1992
Firstpage :
1392
Abstract :
The authors address the control problem of multiple robots manipulating a load cooperatively. They propose a controller that ensures the asymptotic convergence of the load position and the internal forces to their desired values. An adaptive control scheme for the multirobot system is proposed. The adaptive controller ensures the asymptotic convergence of the load position to the desired values and the boundedness of the internal forces. The effects of bounded disturbances on the multirobot system are considered. An adaptive control law is presented which guarantees the boundedness of the tracking errors and the boundedness of the internal force errors
Keywords :
adaptive control; cooperative systems; manipulators; path planning; position control; robots; stability; Lyapunov´s second method; adaptive control law; adaptive control scheme; asymptotic convergence; boundedness; cooperative manipulation; dynamics; effects of bounded disturbances; internal force errors; internal forces; kinematics; load position; multiple cooperative robot arms; multirobot system; robustness; tracking errors; Adaptive control; Convergence; Equations; Error correction; Force control; Jacobian matrices; Manipulator dynamics; Manipulators; Multirobot systems; Programmable control; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
Type :
conf
DOI :
10.1109/CDC.1992.371481
Filename :
371481
Link To Document :
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