Dynamic model and force control for two manipulators handling a pin-jointed object

A dynamic model for two coordinated robots handling a pin-jointed object system is developed. Both kinematic and dynamic constraints are considered, but dynamic constraints are specifically studied. The dynamic model is obtained bv combining the dynamic model for each manipulator with dynamic constraints. The force/torque acting at the end-effector is formulated by a different approach. With this external force expression, the force control problem can be simplified as torque compensation in joint space. Therefore, the original PID (proportional plus integral plus derivative) joint position control loop of an industrial robot can be preserved. An additional force feedback loop is used for compensation of extra external force