Coordinated dynamic control for multiple robotic mechanisms handling an object

A cooperative dynamic hybrid position/force control method for a set of robot arms or a multifingered robot hand handling a single object with or without its motion being constrained by its environment is shown. The method takes the manipulator dynamics and object dynamics into consideration and controls the motion of an object under constraint as well as constraint force when the object motion constraint and the internal force occur. The motion control of an object in free space can be treated as the case of no constraint on object motion in the formulation. An unified description for accommodating various grasp types is used. Several experimental results are presented that show the validity of the proposed approach