Adaptive control for multiple cooperative robot arms

The authors address the control problem of multiple robots manipulating a load cooperatively. They propose a controller that ensures the asymptotic convergence of the load position and the internal forces to their desired values. An adaptive control scheme for the multirobot system is proposed. The adaptive controller ensures the asymptotic convergence of the load position to the desired values and the boundedness of the internal forces. The effects of bounded disturbances on the multirobot system are considered. An adaptive control law is presented which guarantees the boundedness of the tracking errors and the boundedness of the internal force errors