The cooperation control of multiple robotic manipulators with disturbance observers

In this paper, we present cooperation adaptive controllers for two cooperating robotic manipulators moving an object with constrained trajectory/force in the presence of dynamics uncertainties and external disturbances. The cooperating manipulators are described as an aggregation of subsystems. For control design, first a decentralized local dynamics coupled with physical interactions between subsystems is developed, and then a decentralized adaptive control merging parameter adaptation and disturbance observer is constructed, such that motion and force trajectories converge to the desired manifolds and the effect of nonparametrizable uncertainties is compensated by the disturbance observer. Experiment studies are carried out to show the efficiency of the control design.