Experiment of adaptive coordinate control without force sensor for multiple robot arms

This paper presents experimental results of an adaptive coordinated control method for multiple robot arms grasping a common object rigidly. In the proposed controller. the dynamic parameters (if both object and robot arms. are estimated adaptively. The desired motions; of the robot arms are generated by an estimated object reference model, The control method needs measurements of only positions and velocities (if the object and robot arms and doesn´t need the measurements or forces in moments at contact points. The asymptotic stability of motion is guaranteed based on the Lyapunov-like lemma. Experiments for the two robot arms handling a common object are shown.