Adaptive decentralized coordinated control of multiple robot arms

Haruhisa Kawasaki, Satoshi Ito, Rizauddin Ramli

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

This paper presents an adaptive decentralized coordinated control method for multiple robot arms grasping a common object. In the proposed controller, the dynamic parameters of both object and robot arms are estimated adaptively. The desired motions of the robot arms are generated by an estimated object reference model and each robot controller works independently as hybrid adaptive controller. The asymptotic stability of position and internal force of the object is proven by the Lyapunov-Like Lemma. Experimental result for the two robot arms grasping a common object is shown.

Original languageEnglish
Pages (from-to)387-392
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume36
Issue number17
DOIs
Publication statusPublished - 1 Jan 2003
Externally publishedYes
Event7th IFAC Symposium on Robot Control, SYROCO 2003 - Wroclaw, Poland
Duration: 1 Sep 20033 Sep 2003

Fingerprint

Decentralized control
Robots
Controllers
Asymptotic stability

Keywords

  • Adaptive control
  • Coordinated control
  • Force and position control
  • Robot manipulator
  • Stability

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Adaptive decentralized coordinated control of multiple robot arms. / Kawasaki, Haruhisa; Ito, Satoshi; Ramli, Rizauddin.

In: IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 36, No. 17, 01.01.2003, p. 387-392.

Research output: Contribution to journalConference article

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