Robust position, motion-inducing force, and internal force control for multi-robot system

The forces exerted on an object by the each end-effector of multimanipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force contributes to the motion of an object and internal force can not do it. The motion of an object can´t track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper, using the resolved acceleration control method and the fact that internal force lies in the null space of Jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters