This paper deals with the decentralized control of multiple manipulators in a class of cooperative tasks called holonomic cooperation and presents two joint-space controllers. The controllers decouple the position and force control by the joint-space orthogonalization method. The first controller implicitly realizes the force control through a feedforward of the desired force, but the second one includes a loop of the force feedback. Their global and exponential stability is guaranteed by Lyapunov functions. Unlike centralized controllers, our decentralized controllers are designed in the joint spaces of individual robots so that the implementation does not need to manipulate high dimensional matrices.
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