Dynamic model and cooperative control of a serially linked manipulator system

The use of a redundant manipulator to execute multiple tasks specified at different points on the manipulator is demonstrated. This is accomplished by decomposing a redundant arm at an intermediate arm location called the `elbow´ into two nonredundant local arms referred as the `basearm´ and the `forearm´. This decomposition transforms a redundant arm into a serially linked dual-arm system, where the cooperation between the basearm and the forearm is carried out through task distribution and elbow control. The kinematics of a decomposed redundant manipulator are discussed, and a Cartesian space dynamic model and dynamic equation of a decomposed redundant manipulator are presented. The capability of generating Cartesian force, the local efficiency of generating Cartesian acceleration, and dynamic task distribution are discussed