Adaptive Jacobian coordinated manipulation for multiple robot manipulators

In this paper we propose an adaptive Jacobian coordinated control method for cooperative robot manipulators, considering that the kinematics and dynamics of the robot manipulators are uncertain. By exploiting the property that the velocity and dynamics are linear in a set of physical parameters, an adaptive Jacobian coordinated control method is designed based on position/force hybrid control method. The system stability is proved by using Lyapunov method, and simultaneously the effectiveness is demonstrated in a circle trajectory tracking simulation.