In real-world object manipulation scenarios, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction forces and causing object damage or emergency stops. This paper presents a novel distributed motion control approach aimed at reducing these unnecessary interaction forces. The control strategy only utilizes force information without the need for global position and velocity information. Disturbances are corrected through compensatory movements of the manipulators. Besides, the asymmetric, non-uniform, and time-varying communication delays between robots are 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 transportation by two robots. Experimental results demonstrate the effectiveness of the proposed control law in reducing interaction forces during object manipulation.

翻译：在实际物体操控场景中，多移动机械臂系统易受干扰与异步性问题影响，导致产生过大的交互作用力，进而引发物体损坏或系统急停。本文提出一种新型分布式运动控制方法，旨在降低此类非必要的交互作用力。该控制策略仅需利用力信息，无需全局位置与速度信息。系统通过机械臂的补偿运动实现对干扰的校正。此外，本文还考虑了机器人间非对称、非均匀且时变的通信延迟问题。基于李雅普诺夫定理，本文严格证明了该控制律的稳定性。随后，通过双机器人协同物体搬运的仿真与实验，验证了所提控制律的有效性。实验结果表明，该控制律能有效降低物体操控过程中的交互作用力。