Hybrid position/Force control of multi-arm cooperating robots

摘要: This paper extends the theory of hybrid position/force control to case multiarm cooperating robots. Cooperation between n robot arms is achieved by controlling each arm such that burden actuation shared in a non-conflicting way as they position and force on designated point an object. The object which may or not be contact with rigid environment, assumed held rigidly end-effectors. Natural artificial constraints are defined for two selection matrices obtained arms. loops designed based manipulator's Cartesian space dynamic equations. In subspace, feature provided allows exert additional forces/torques achieve compression, tension, torsion without affecting execution motion trajectories. method introduced minimize total force/torque magnitude square while realizing net desired force/ torque environment.