Decentralized adaptive coordinated control of multiple robot arms handling one object

Haruhisa Kawasaki, Rizauddin Ramli, Satoshi Ito

Research output: Contribution to journalArticle

1 Citation (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 comparisons between adaptive control with force sensor and one without force sensor for the two robot arms grasping a common object are shown.

Original languageEnglish
Pages (from-to)632-639
Number of pages8
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume48
Issue number4
DOIs
Publication statusPublished - 15 Jun 2006
Externally publishedYes

Fingerprint

Robots
Controllers
Decentralized control
Sensors
Asymptotic stability

Keywords

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

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Decentralized adaptive coordinated control of multiple robot arms handling one object. / Kawasaki, Haruhisa; Ramli, Rizauddin; Ito, Satoshi.

In: JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, Vol. 48, No. 4, 15.06.2006, p. 632-639.

Research output: Contribution to journalArticle

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