User-oriented task description for cooperative spatial manipulators: one-degree-of-freedom rolling grasp

The typical task of a cooperative two-arm system is to manipulate a common object. This requires a task description in terms of absolute variables describing the motion of the object and relative variables describing the mutual location between the end effectors which is turn characterize the object grasp. Both absolute and relative variables include position and orientation. The authors previously (1993) presented a description for the case of a tight grasp. In this work we show how to embed the case of a one-degree-of-freedom rolling grasp in the user-oriented task description to solve a kinematic control problem for the cooperative system