A robust adaptive control scheme for two planar manipulators handling an unknown object in an assembly process

In this paper, an adaptive control scheme for a cooperative system consisting of two manipulators grasping and manipulating an unknown rigid object is proposed. It is assumed that the object will be in contact with a constrained environment through an assembly process. The contact force between each robot and the object is decomposed into two independent forces, one of which is for grasping the object, and the other is for motion of the object. The object position and its contact force with the environment of unknown stiffness is controlled using a robust adaptive control algorithm. The Lyapunov´s direct method is used in design and stability analysis of the proposed controller. Simulation results, confirm the performance and effectiveness of the proposed controller.