A1-2 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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MODELING AND ADAPTIVE NONLINEAR CONTROL OF MULTIPLE ROBOTIC SYSTEMS IN CONTACT TASKS Atanasko Tuneski 1 , Darko Babunski 1 1 The Faculty of Mechanical Engineering, 91000 Skopje, Macedonia, atanas@ereb.mf.ukim.edu.mk ; bdarko@mf.ukim.edu.mk Abstract. The adaptive control of nonlinear multiple robot manipulators handling a dynamic object motion of which is constrained by the dynamic environment, when object and/or environment parameters are not known in advance, is proposed. It may be implemented when: (i) there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; (ii) the parameters of the system are not precisely known; (iii) the system parameters do vary in a known regions about their nominal values. Key words – Adaptive control, nonlinear systems stability, robotic manipulators 1. INTRODUCTION The problem addressed in this article is the synthesis of an adaptive control of multiple compliant manipulation on dynamical environment. Important advantages of multiple manipulator system are: (i) possibility to regulate the internal force in the object, i.e., to regulate the forces which are applied by one manipulator against the others, through the object, that do not contribute to the object motion; (ii) possibility to minimize external requirements (like time or power requirements); (iii) the workspace of multiple robots is always larger than the workspace of only one. Only a few papers consider the problem of multiple robot compliant manipulation on dynamic object [1]-[4], and several adaptive control methods for multiple manipulators in the contact tasks were proposed [5]-[8]. Important advantages of multiple manipulator system are: (i) possibility to regulate the internal force in the object, i.e., to regulate the forces which are applied by one manipulator against the others, through the object, that do not contribute to the object motion; (ii) possibility to minimize external requirements (like time or power requirements); (iii) the workspace of multiple robots is always larger than the workspace of only one. However, the addition of a second manipulator, or several manipulators, leads to a complex system since the motion of the multiple robot arms must be kinematically and dynamically coordinated. The adaptive control law synthesized here has the following characteristics: (i) it may be implemented when there is uncertainty in the system parameters and they do vary in a known regions about their nominal values; (ii) it is composed of an identification part (parameter update law), and a control law part; (iii) in deriving the adaptive control law, the inverse dynamics controller structure is adopted. Based on the Lyapunov stability theory a proof that the proposed adaptive controller is asymptotically stable is presented.
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A1-2 - Sedma Nacionalna Konferencija so Me|unarodno U~estvo...

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