This paper presents two novel control methodologies for the cooperative manipulation of an object by $N$ robotic agents. First, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid potential representation singularities. Second, we propose a control protocol that guarantees predefined transient and steady-state performance for the object trajectory. Both methodologies are decentralized, since the agents calculate their own signals without communicating with each other, as well as robust to external disturbances and model uncertainties. Moreover, we consider that the grasping points are rigid and avoid the need for force/torque measurements. Load distribution is also included via a grasp matrix pseudoinverse to account for potential differences in the agents’ power capabilities. Finally, simulation and experimental results with two robotic arms verify the theoretical findings.

中文翻译：

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无力/转矩测量的鲁棒合作操纵：控制设计和实验

本文提出了两种新颖的控制方法，用于通过 $ N $ 机器人代理。首先，我们设计了一种自适应控制协议，该协议采用四元数反馈进行对象定向，以避免潜在的表示奇异性。其次，我们提出了一种控制协议，该协议可确保对象轨迹具有预定义的瞬态和稳态性能。两种方法都是分散式的，因为代理无需相互通信即可计算自己的信号，并且对外部干扰和模型不确定性都具有较强的鲁棒性。此外，我们认为抓握点是刚性的，因此无需进行力/扭矩测量。负载分配还通过伪逆矩阵来包括，以解决代理力量能力中的潜在差异。最后，两个机械臂的仿真和实验结果验证了理论发现。