تنظيم نيروي اعمالي و كنترل چند روبات در مشاركت براي جابجايي يك جسم

The Impedance Law can control both position and interacting force of a robot during those tasks which encounter a contact with the environment. In this paper, Multiple Impedance control (MIC) which is an algorithm that enforces designated impedance on all cooperating manipulators, and the manipulated object, is extended to fulfill force tracking requirements. It is shown that the MIC algorithm in this completed format can satisfy force-tracking desires in object manipulation tasks. Next, the disturbance rejection characteristics of this algorithm are studied. Finally, a system of two manipulators during an object manipulation task, subjected to force and torque disturbances applied on several points, is simulated. This simulation study reveals that the effect of disturbances substantially reduces through appropriate tuning of the controller mass matrix gain .The simulation results also reveal the merits of the MIC algorithm in controlling multiple robotic arms even in the presence of significant disturbances, i.e. .negligible small errors in both position and force tracking aspects.