Dynamics Modeling and Hybrid Control of Rigid Coordination for Multiple Robot Manipulators
多机械手刚性协调动力学建模与混合控制

Begining with the analysis of load sharing, this paper elaborates the definition of object oriented external/internal force and external/internal motion of multi arm coordination. Assuming the object motion is constrained, a group of generalized motion and force vectors are proposed for coordinated task describing. Based on the kinetic equations of each manipulator and object, the object oriented kinematics, static and dynamic models of multi arm coordination systems are derived. These models also remain uniform with the workspace kinetic equation of single manipulator. Considering this uniformity, this paper studies the hybrid control method of motion, internal force and contact force in multi arm coordination.