In this paper, cooperative control is investigated for dual-arm robots collaboratively transferring an object, whose position and velocity are constrained. With the aid of the system transformation technique, the problem of gripped object’s position and velocity constraint is transformed into the problem of the boundedness of the newly constructed system. On the other hand, due to the redundancy configurations of the dual-arm robots, the grasping force allocation of the left and right arms is not unique. As a result, an optimal torque allocation strategy in Cartesian space is further designed, ensuring the uniqueness of the torques calculated by our designed cooperative control method. With our proposed cooperative control scheme, not only the gripped object’s trajectory tracking is achieved, but also its position and velocity constraints are maintained.

This paper investigates the tracking control problem of hysteresis nonlinear systems with irregular constraint boundaries. By blending the constraint boundary with the barrier function and using the system transformation technique, an adaptive quantized tracking control scheme is developed, in which three significant advantages are obtained: (1) Compared with traditional constraint control methods, the constraints considered in this work only need to satisfy the condition of piecewise differentiability, which may be time-varying, asymmetric, and may appear in stages; (2) The designed controller can maintain the state within the boundary range where constraints are active, effectively managing situations where constraints and non-constraints alternate. (3) The quantizer used combines logarithmic and uniform quantizers, effectively reducing communication costs and maintaining acceptable quantization errors, which ultimately improves the overall system performance. The method’s effectiveness and superiority are validated through experiments conducted on a piezoelectric-driven motion system.

This paper studies the practical prescribed-time control problem for dual-arm robots handling an object with output constraints. Firstly, by utilizing the property that the sum of internal forces in the grasping space is zero, the system model is obtained and decomposed into the contact force model and free motion model, which are orthogonal to each other. Furthermore, by combining the performance function and constraint function, the original system tracking error is transformed to a new one, whose boundedness can ensure that the original system variable converges to the predetermined range within the specified time. Then, a comprehensive neuroadaptive controller including position control term and contact control force control term is designed. Finally, the simulation results of two planar three link robots working together on a common object verify the effectiveness and superiority.