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adaptive gravity compensation

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Consensus in networks of uncertain robot manipulators without using neighbors’ velocity information
Seyed Mostafa Almodarresi, Marzieh Kamali, Farid Sheikholeslam
Journal:

Robotica / Volume 40 / Issue 2 / February 2022

Published online by Cambridge University Press:

30 June 2021, pp. 403-419
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In this paper, new distributed adaptive methods are proposed for solving both leaderless and leader–follower consensus problems in networks of uncertain robot manipulators, by estimating only the gravitational torque forces. Comparing with the existing adaptive methods, which require the estimation of the whole dynamics, presented methods reduce the excitation levels required for efficient parameter search, the convergence time, and the complexity of the regressor. Additionally, proposed schemes eliminate the need for velocity information exchange between the agents. Global asymptotic synchronization is shown by introducing new Lyapunov functions. Simulation results are provided for a network of 10 4-DOF robot manipulators.