Dynamic coordinated control of two robot manipulators

The dynamic coordinated control of two robot manipulators grasping a common object is studied. A dynamic coordinated control model for two robot manipulators which is suitable for the purpose of system control analysis is derived. The model takes into account kinematic and dynamic constraints between two manipulators and is explicitly described by nonlinear state equations and nonlinear output equations. Since coordinated control requires control of forces applied to the object by manipulators, the output equations include both position components and force components. While it is true that robotic systems with position outputs can be linearized by using a nonlinear feedback, linearization of force outputs has not been established. The differential geometric control theory on exact linearization and output decoupling of nonlinear systems is used to find a dynamic nonlinear feedback that, together with a diffeomorphic state-space transformation, linearizes and simultaneously output-decouples the nonlinear model of two robot manipulators. Dynamic coordinated control of two robot manipulators is converted into a control problem of linear systems