Decentralized Control Approach for Multiple Cooperative Robots manipulating a Common Object

This paper is devoted to cooperative manipulation of a common object by means of two or more robotic arms. We present a strategy for controlling both the motion of the cooperative system and the interaction forces between the manipulators and the grasped object. Our main contribution is to develop a new decentralized trajectory tracking control approach for the interconnected nonlinear systems. The efficiency of the proposed control approach is highlighted by numerical simulation dealing with the decentralized control for two cooperative arms manipulating a common object.