제한된 운동을 다루는 다중 로봇 매니퓰레이터의 혼합 적응제어 = Composite Adaptive Control for Multiple Robot Manipulators Handing Constrained Motion

다국어 초록 (Multilingual Abstract)

In this paper, we propose a control algorithm for multiple robot manipulators handing a rigid object to move along constrained surfaces when the robots and load parameters are uncertain. The proposed controller takes into account the dynamics of both the object and the manipulators. This controller requires the control of the motion trajectory of attached object on the constrained surfaces as well as constrained forces due to the contact with the surface and internal force exerted by the manipulators on the object. In order to design control and update laws that do not require the measurements of the acceleration, the proposed composite adaptive control algorithm is developed by deriving reduced order dynamic model of coupled multiple robot-environment system and using parameter adaptation scheme and lowpass filtering method. The proposed controller guarantees global asymtotic tracking of the position trajectories and forces trajectories.