Distributed Task-space Tracking for Multiple Manipulators with Uncertain Dynamics and Kinematics

Abstract

This paper studies the task-space tracking problem for networked robot manipulators, while the dynamic and kinematic parameters of each manipulator are unknown. A velocity observer is first developed to estimate the task-space velocity, and reference sufficient conditions for observer parameters are also given to guarantee the convergence of observation error. Based on the proposed observer, an adaptive controller is first developed when the task-space velocity is measurable, then a modified controller is proposed considering the case when the task-space velocity is unavailable. Using graph theory and Lyapunov analysis, the proof of the system stability is given. Simulations are provided to demonstrate the effectiveness of the proposed control method.