Cooperative control of manipulator robotic systems with unknown dynamics

摘要

Cooperative control of manipulator robotic systems to grasp and handle an object is studied in this paper. Based on the passive decomposition approach, the cooperative system is decomposed into decoupled shaped and locked systems. Then, regressor free adaptive control laws for the decoupled shaped and locked systems are proposed. Despite existing shaped and locked approaches in the literature, the proposed approach guarantees the passivity of the closed loop system when the robots dynamics are unknown. Simulation results verify the accuracy of the proposed control scheme.