Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object

A cooperative dynamic hybrid control method for multimotion robotic mechanisms handling a single object whose motion is constrained by environment is discussed. This method takes the manipulator dynamics and object dynamics into consideration and is for controlling the motion of the object as well as for controlling the constraint force and the internal force. The following results are obtained: (1) the force and kinematic relations are established for arms grasping and manipulating an object using various types of end effector; and (2) using the first result, a nonlinear state feedback law for the joint driving force that linearizes and decouples the robot system with respect to the object motion, constraint force, and internal force is given. A basic structure of the dynamic hybrid control system with a servo compensator is presented. The effectiveness of the proposed approach has been examined by a simple experiment. These results are useful for the fine manipulation of an object, in the sense that one can specify the controller characteristics independently for the individual specification of the object motion, the interaction between the object and its environment, and the grasping of the object