Image based adaptive coordinated control for cooperative manipulators

In this paper, we examine the visual tracking control method for the cooperative robot system, where the kinematics and dynamics of the involved robot manipulators are uncertain. Using the property that kinematics and dynamics are linear in a set of physical parameters and combining the image based visual servo control method, the image based adaptive coordinated control for multiple robot manipulators is accomplished. It can guarantee that the visual tracking error and the internal force error converge to zero. Finally, the effectiveness of this proposed method is well demonstrated in the circle trajectory tracking simulation.