Extended operational space formulation for serial-to-parallel chain (branching) manipulators

This paper extends the operational space formulation to the important class of serial-to-parallel chain (branching) manipulators. The various models and concepts developed in operational space, such as dynamically consistent force/torque decomposition for control of redundant manipulators and the augmented object model for cooperative manipulator systems, are shown to extend directly. Dynamic modeling and experimental results for a free-flying, two-arm space robot are presented to validate this extension