Control of multiple arms with rolling constraints

The authors present a unified formulation for the control problem of multiple arm systems which accommodates both holonomic and nonholonomic constraints. Several unique control properties of nonholonomic systems are discussed. Several useful results regarding input-output linearization and the zero dynamics in such systems are proved. The analysis and controller design are discussed for multi-arm systems. Results from computer simulations are presented to demonstrate the control algorithms. Simulation results illustrate that rolling and sliding can be effectively controlled