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On adaptive synchronization control of coordinated multirobots with flexible/rigid constraints

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1 Author(s)
Wen-Hong Zhu ; Canadian Space Agency, St.-Hubert, Que., Canada

In assembly tasks performed by coordinated multiple robots, the contact force at the end-effector of each robot should be a function of the states of all the robots, and further be a function of the control inputs when subject to rigid constraints. After a discussion on the algebraic loop issue caused by using direct force cancellation, an adaptive synchronization control algorithm is proposed in this paper, which particularly addresses the dual-arm case subject to both flexible and rigid constraints. Extension of the result to the multiple-arm case is also presented.

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Robotics, IEEE Transactions on  (Volume:21 ,  Issue: 3 )