Trajectory-Specification and Load Distribution for Closed-Loop Multi-Manipulator Systems

This paper presents two linear models for a "quasi-static" load distribution in a multi-manipulator task. The space curve frames generated by the space curve trajectories of each manipulator serve as frames of reference for the forces acting on the load. All constraints on the load distribution problem are formulated with reference to the force frames. The simulation of a simple task with two planar manipulators is described to illustrate the application of the linear force distribution models of this paper.