Towards Squeezing Forces Control for Cooperating Manipulators

The present work contributes towards the development of a scheme for control of squeezing forces, which are exerted by cooperating manipulators on a carried load subject to holonomic constraints. The forces space is decomposed into moving forces, which cause the load´s motion, and controllable forces, which can be controlled independently from the load´s position. A way of modeling the controllable forces is introduced, such that the controllable forces are directly related to the squeezing forces applied on the load. The proposed technique contributes towards more efficient control of squeezing forces.