Decentralized control of multiple cooperative manipulators with impedance interaction using fuzzy systems

In this paper, a decentralized adaptive fuzzy control scheme has been developed for two robotic manipulators that collaboratively moves an object with impedance interaction in the presence of dynamics uncertainties and unknown external disturbances. By modelling the contact forces using gradients of nonlinear potentials, we obtain the deformations of the contact surface by impedance approach. By regarding the cooperating manipulators as an aggregation of subsystems, we develop the decentralized local dynamics coupled with physical interactions. Then, we construct a decentralized fuzzy control combing parameter adaptations and disturbance observer. To test the developed control, experiments are carried out on two robots. The experimental results verify the effectiveness of the proposed control.