In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. This paper presents a novel distributed motion control approach aimed at reducing these unnecessary interaction wrenches. The control strategy for each robot only utilizes information from the local force sensors and neighboring robots, without the need for global position and velocity information. Disturbances are corrected through compensatory movements of the manipulators. Besides, the robustness of the control law against communication delays between robots is also considered. The stability of the control law is rigorously proven by the Lyapunov theorem. Subsequently, the efficacy of the proposed control law is validated through simulations and experiments of collaborative object manipulation by two robots. Experimental results demonstrate the effectiveness of the proposed control law in reducing interaction wrenches during object manipulation.

翻译：在现实世界的物体协同操作中，多移动机械臂系统可能受到干扰和异步性的影响，导致产生过度的交互力矩，可能造成物体损坏或引发紧急停机。本文提出了一种新颖的分布式运动控制方法，旨在减少这些不必要的交互力矩。每个机器人的控制策略仅利用来自局部力传感器和相邻机器人的信息，无需全局位置和速度信息。干扰通过机械臂的补偿运动进行校正。此外，还考虑了控制律对于机器人间通信延迟的鲁棒性。控制律的稳定性通过李雅普诺夫定理得到了严格证明。随后，通过两个机器人协同操作物体的仿真和实验验证了所提控制律的有效性。实验结果表明，所提出的控制律在物体操作过程中能有效降低交互力矩。