A Recursive Algorithm for Adaptive Control of Coordinated Multiple Manipulators/Fingers
一种多机械手(指)自适应协调控制的递推算法

This paper presents a recursive algorithm for adaptive control of coordinated multiple manipulators/fingers.The control problem of the complete system is converted into the control problem of each subsystem.In the sense of Lyapunov,the dynamic interactions between the subsystems are completely represented as virtual power flows(VPFs) at their cutting points.Finger tip is considered as a passive joint.Lyapunov asymptotic stability of the complete system is guaranteed.Computer simulation is conducted to verify the validity of the proposed approach.