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. Existing methods often rely on torque control and dynamic models, which are uncommon in many industrial robots and settings. Additionally, dynamic models often neglect joint friction forces and are not accurate. These methods are challenging to implement and validate in physical systems. To address the problems, this paper presents a novel distributed motion control approach aimed at reducing these unnecessary interaction wrenches. The control law is only based on local information and joint velocity control to enhance practical applicability. The communication delays within the distributed architecture are considered. The stability of the control law is rigorously proven by the Lyapunov theorem. In the simulations, the effectiveness is shown, and the impact of communication graph connectivity and communication delays has been studied. A comparison with other methods shows the advantages of the proposed control law in terms of convergence speed and robustness. Finally, the control law has been validated in physical experiments. It does not require dynamic modeling or torque control, and thus is more user-friendly for physical robots.

翻译：在实际的物体协同操作中，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。现有方法通常依赖于力矩控制和动力学模型，这在许多工业机器人和应用场景中并不常见。此外，动力学模型常常忽略关节摩擦力且不够精确。这些方法在物理系统中难以实现和验证。为解决这些问题，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。该控制律仅基于局部信息和关节速度控制，以增强实际适用性。同时考虑了分布式架构内的通信延迟。通过李雅普诺夫定理严格证明了控制律的稳定性。仿真结果表明了该方法的有效性，并研究了通信图连通性与通信延迟的影响。与其他方法的对比显示了所提控制律在收敛速度和鲁棒性方面的优势。最后，该控制律已在物理实验中得到了验证。该方法无需动力学建模或力矩控制，因此对物理机器人更加友好。