Adaptive Jacobian synchronized tracking control for multiple robotic manipulators

In this study, a new adaptive synchronized tracking control approach is developed for the operation of multiple robotic manipulators systems in the presence of uncertain kinematics and dynamics. In terms of the system synchronization theory and adaptive control principle, the proposed approach can stabilize position tracking of each robotic manipulator while coordinating its motion with others. Due to designing novel kinematic and dynamic adaptive laws, the proposed approach can cope with kinemaic and dynamic uncertainties effectively. A systematical and solid theoretical analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safely operating real systems. Finally, an illustrative example is bench tested to validate the effectiveness of the proposed approach.