Cooperative control schemes for multiple robot manipulator systems

Three schemes are developed which are aimed at achieving cooperative control of multiple arm systems manipulating a common object. The first scheme operates wholly on the object task space variables. The second scheme operates on the joint space variables that can be derived via a kinematic inversion from the cooperative task space variables. The third scheme combines the features of the two by solving the cooperation at the inverse kinematic level and acting the control at the object level. Simulation results are provided for a two-arm planar system to investigate the behavior of the controlled system in the case of inaccurate object modeling