Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics

In this paper, a novel adaptive control for dual-arm cooperative manipulators is proposed to accomplish the hybrid position/force tracking in the presence of dynamic and closed-chain kinematic uncertainties. Self-convergent parameter estimation of the grasped object's centre of mass and contact force estimation are incorporated into this systematic scheme. Moreover, internal force and contact force tracking objectives are achieved simultaneously by incorporating into the position tracking formula with proper null-space projection and rotation transformation. Noisy force derivative signals are not required. This adaptive controller is mathematically derived based on Lyapunov stability analysis. Three sets of simulations corresponding to three different situations are presented to verify the effectiveness and superiority of the proposed controller.