Virtual decomposition based coordinative control of multirobots

In this paper, a virtual decomposition based control scheme is presented for multirobots. The motion control problem of the original system is converted to each rigid body and joint, respectively. The constraint force and the internal force control can be performed with respect to the held object only. The finger tip is considered as an unactuated joint at which the force constraint problem can be solved by releasing some degrees of freedom of the required internal force. Asymptotic stability of both motion and internal force is ensured based on Lyapunov analysis