Predictive adaptive control of multiple robots in cooperative motion (Q1842540)

This paper addresses the problem of controlling multiple non redundant robots manipulating a rigid object cooperatively when the parameters of the robot and the parameters of the load are uncertain. A controller that takes into account the dynamics of both the load and the manipulators is proposed. The dynamics of both the manipulators and the load are filtered through a first order stable filter so that the control and update laws do not require the measurements of the accelerations. Two prediction error vectors for the load and manipulators are defined. These vectors are the difference between the measured filtered dynamics and the predicted filtered dynamics. The controller which is developed is based on the cancellation of the nonlinearities. It guarantees asymptotic tracking of the load trajectories and also asymptotic tracking of the internal forces trajectories.