Dynamic control of multiple coordinated redundant robots

An approach to the control of multiple coordinated redundant robots working in an environment with obstacles is developed in which the extended task space technique is presented for establishing the dynamic equations of the coordinated redundant robots using the redundant degrees of freedom. This approach can be used to control the motion of an object while avoiding obstacles. Three subsystem error equations are generated: a position error subsystem, an internal force error subsystem, and a constraint error subsystem. The adaptive law is derived to estimate the unknown parameters of the coordinated redundant robots and the object in terms of the three error subsystem equations