Dynamics modeling and hybrid control for multi-arms rigid coordination

This paper studies dynamics and hybrid motion and force control method for coordination of multiarms, which grasp a common rigid object tightly in the presence of environment constraints. First, begin with the analysis of load distribute, this paper elaborates a definition of external/internal force and motion for multiarms coordination, and a group of generalized motion and force vectors are then proposed for task description. Next, based on the kinetic equations of object and each manipulator, a series of object-oriented kinematics and dynamics equations for multiarms rigid coordination are derived. These equations also remain unification with the workspace kinetic equations of single manipulator. Last, by considering this informity, the hybrid control of object motion, internal force and contact force is studied, and several experiments that have been done on two PUMA562 robot manipulators are presented.