An approach to controlling multi-arm robotic manipulation of a single body

When more than one robot arm is used to manipulate an object, internal forces (i.e. forces of constraint) may be developed in the object. This effect is due to many factors, including manipulator position and trajectory errors. An approach is presented that reduces these constraint forces using force/torque sensor data. A control algorithm is developed that eliminates the constraint forces by supplying a position correction to each arm