Modelling multiple robot manipulators handling a common object:a human motor control perspective

This paper describes the aspects involved in modelling a multi-robotic system from a human motor control perspective. Building a control system for a multi-robot system that works in a similar fashion to the human motor control system would require a decomposable model. Decomposition of a complex robotic system is difficult due to the interactions between the subsystems. The proposed method of separating the interconnections is applied with the aid of fuzzy modelling to derive a fully decomposable model of two manipulator robots handling a common object