Adaptive control of unknown robotic systems cooperating on handling of an unknown object

摘要

This paper presents an adaptive control scheme for robotic systems, cooperating in grasping and manipulation of an unknown object. Unlike most of the previous approaches in the literature, the manipulators dynamics are assumed to be unknown. Furthermore, no a priori information is required regarding the object dynamics and its Center of Mass (CoM). By utilizing the passive decomposition technique, the overall system is decomposed into decoupled shaped and locked systems. Then, an adaptive control methodology is designed based on the Function Approximation Technique (FAT). To investigate stability of the closed-loop system, passivity concept and Lyapunov's direct method are used, which ensured asymptotical convergence of the tracking errors. Finally, simulation results are provided to verify the effectiveness of the proposed control scheme.