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1、678IEEETRANSACTIONSONROBOTICS,VOL.21,NO.4,AUGUST2005AdaptiveForce-MotionControlofCoordinatedRobotsInteractingWithGeometricallyUnknownEnvironmentsMehrzadNamvarandFarhadAghili,Member,IEEEAbstract—Moststudiesonadaptivecoordinationofmulti-robotsystemsassumeexactknowledgeofsystemkinematicsanddealo
2、nlywithdynamicuncertainties.However,manyindustrialappli-cationsinvolvetasksinwhichamulti-robotsysteminteractswithgeometricallyunknownenvironments.Inthispaper,weconsideramulti-robotsystemgraspingarigidobjectincontactwithageo-metricallyunknownsurface.Theproposedadaptivehybridforce-motioncontrol
3、lerguaranteesasymptotictrackingofdesiredmo-tionandforcetrajectorieswhileensuringexactidentificationofconstraintJacobianmatrixwithoutpersistencyofexcitationcon-dition.Thecontrolsignalissmoothanddoesnotdependoncon-tactforcederivative.Theproposedadaptivecontrollerisrobusti-fiedagainstenvironmental
4、frictionandnonparametricuncertaintyinenvironmentgeometry.Simulationexamplesarepresentedtoil-lustratetheresults.IndexTerms—Adaptivecontrol,environmentaluncertainty,hy-Fig.1.Anexampleofaplanartwo-robotinterconnectedsystem.bridforce-motioncontrol,kinematicuncertainty,multi-robotco-ordination.Par
5、ametersetNOTATIONI.INTRODUCTIONNumberofrobots.OORDINATIONofmultiplerobotsisessentialinmanyJointanglevectorofrobot.Capplications,suchasmanufacturingandassemblytasks,Inputtorqueofrobot.whichoftenincludethesituationswheremultiplearmrobotsInteractingforcebetweentheend-effectorofrobotaregraspingan
6、objectincontactwithenvironment,asshownandobject.inFig.1.Examplesarescribing,painting,grinding,polishing,Vectorofpositionandorientationoftheend-effectorcontourfollowing,objectaligningandplotting[1].Thepur-ofrobot,incontactwithobject.poseofcontrollingacoordinatedsystemistocontrolthecontactVecto
7、rofpositionandorientationofobjecttipforcebetweentheenvironmentandobjectintheconstraineddi-rectionandthemotionoftheobjectinunconstraineddirections..Meanwhile,maintaininginternalforcesthatdonotcontributetoConstrainedcomponentsof.systemmotionins
