An adaptive hybrid control scheme for two planar manipulators handling an unknown object in an assembly process

In this paper, an adaptive hybrid force/position control architecture for a cooperative system consisting of two unknown planar manipulators grasping and manipulating an unknown rigid object is proposed. It is assumed that the object will be in contact with an environment through an assembly process. The contact force between each robot and the object is decomposed into two independent forces, one of which is for grasping the object, and the other is for motion of the object. The reduced order dynamics of the cooperative system is obtained with respect to the position of the first robot´s end effector. The object´s position and interaction with the environment is controlled using an adaptive hybrid control algorithm. The Lyapunov´s direct method is used in design and stability analysis of the proposed controller. Simulation results, confirm the performance and effectiveness of the proposed methodology.