Adaptive load sharing for hybrid controlled two cooperative manipulators

Adaptive load sharing of two cooperative manipulators that hold a common object is examined from the viewpoint of robust holding. Task vectors to describe the task are first summarized, and a hybrid control scheme for the simultaneous control of holding forces and carrying positions is presented. Within the framework of the hybrid control, the robust holding problem is analyzed, paying attention to the contact conditions between the manipulators and the object. The contact conditions are formulated as a set of linear inequalities with respect to the load sharing coefficients. Based on the analysis, a heuristic but very simple algorithm for online adaptation is presented. The algorithm is corroborated experimentally