Reduced order model and decoupled control architecture for two manipulators holding an object

A dynamical model and a control architecture are developed for the closed-chain motion of two N-joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are determined and combined with the equations of motion of the manipulators to obtain a dynamical model of the entire system in the joint space. Reduced-order equations of motion and a functional relation for the generalized contact forces are developed. The problem of solving the reduced-order model for the forward and inverse dynamics is discussed. Control laws are determined so as to decouple the force-controlled and position-controlled degrees of freedom during motion of the system