Stability analysis of multiple rigid robot manipulators holding a common rigid object

The authors consider several possible control structures for multiple-arm systems by regarding either joint torques, tip force, or a generalized acceleration of the control input. They emphasize the first case, since a class of relatively model-independent control laws can be generated for both motion and internal force control. The recently developed move/squeeze orthogonal subspace decomposition coupled with the energy Lyapunov function formulation provides a basic analytical framework within which motion and force control are considered as independent problems. Simulation results of two three-link planar arms are included to demonstrate good transient performance for both motion and force that can be attained with the full dynamics control paradigm