【摘 要】
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Research on the control of cooperative multiple-manipulator systems has been witnessing an increasing interest due to the versatility in the tasks that requ
【机 构】
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College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China
【出 处】
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The Third International Conference on Dynamics,Vibration and
论文部分内容阅读
Research on the control of cooperative multiple-manipulator systems has been witnessing an increasing interest due to the versatility in the tasks that require cooperative manipulations by two or more robot manipulators due to the potential application in industrial automation and space exploration.Potential applications of such systems cover a wide range of tasks, from assembly in automated manufacturing to repairing and servicing satellites in space.However, the control of cooperative multiple-manipulator robot systems involves more complicated tasks in comparison with the control of a single manipulator robot.First, the cooperative multiple-manipulator robot system usually forms closed kinematic chains that impose kinematic and dynamic constraints in the control equations.Second, the interactive actions among the manipulators through the object lead to an essential need of controlling position and interactive force simultaneously.Finally, the cooperative manipulation may introduce redundancy, thus allowing many alternative solutions in various modes of cooperation.
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