General mathematical model of multiple manipulators: cooperative compliant manipulation on dynamical environments

The general mathematical model of multiple rigid robot manipulators performing cooperative work on a single dynamical object of which the motion is constrained by a dynamical environment is presented. The coordinated robots have to simultaneously move the object along a predetermined known trajectory on the constraint environment, exert a prespecified contact force on the environment, and keep the value of the internal force between a certain minimum and maximum. The manipulator dynamics, the object dynamics and the environment dynamics are taken into consideration, together with the contact conditions between robots and object and between object and environment