Position and force control of two constrained robotic manipulators (Q1306139)

The problem of controlling two robotic manipulators handling a constrained object is addressed. Under a few assumptions, certain kinematics and force relations exist in the system. These relations are derived and expressed systematically. The kinematic and dynamic models of the constrained multi-robot system are generally very complicated. However, because of the existence of constraints in the system, the order of the dynamic model of the system can be reduced. The motion of the whole system can be described by a set of chosen joint coordinates. Several properties of the reduced model are derived. Using this model, a controller that guarantees the asymptotic convergence of the position, the inertial force, and the constrained force to their desired value is proposed. Simulation results for two three-link planar manipulators moving a constrained object illustrate the effectiveness of the proposed controller.