Contact force distribution on object grasped by two manipulators (Q2368309)

A new load distribution scheme is proposed which is invariant with respect to the change of the length unit and avoids undesired squeezing effects on the held object. The method admits less than 3D contact configurations, and it can be used to study the combination of various types of contact between robot end-effectors and the object. One of possible applications of the proposed approach deals with the control strategies aimed at performing specified set point profiles of internal forces on the object held by two manipulators. Although the paper concerns the planar dual arm manipulation, the range of application of the proposed methodology can be extended to cover a general case of multiple robotic arms manipulating an object.