Adaptive control of multiple robots manipulation in dynamical environment

An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. The control system is designed for: 1) when there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; 2) when the parameters of the system are not precisely known; and 3) when the system parameters do vary in a known regions about their nominal values. The proposed adaptive control law has the inverse dynamics controller structure and is composed of both an identification part and a control part. The simulation results verify the proposed approach to coordinated adaptive control of multiple robot manipulators in constrained motion tasks.