Model reference adaptive control of constrained cooperative manipulators

We consider the dynamics and control of two or more multi-link robot manipulators cooperatively maneuvering a rigid payload. The redundantly actuated case is considered and trajectory tracking control laws are derived to account for the uncertain payload properties but ensuring stable tracking error dynamics. The dynamics of the constrained system is projected on to the null space of the constraints and is shown that this reduces the parameterization of the controller greatly. The control law is shown to be robust against large payload errors.