Experiment of Adaptive Coordinate Control Without Force Sensor for Multiple Robot Arms

Abstract

This paper presents experimental results of an adaptive coordinated control method for multiple robot arms grasping a common object rigidly. 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. The control method needs measurements of only positions and velocities of the object and robot arms and doesn’t need the measurements of forces and moments at contact points. The asymptotic stability of motion is guaranteed based on the Lyapunov-Like Lemma. Experiments for the two robot arms handling a common object are shown.