Coordination of two-arm pushing

Dynamic modeling and coordinated control of two-arm pushing operations are studied. The performance of such tasks requires the simultaneous control of the motion trajectory of the grasped object and the interaction force. The control of the interaction force is needed to ensure that the object is not dropped and to avoid excessive pressing. The motion and force control problem is further complicated by the presence of unilateral constraints since the manipulators can only push the object. The control problem is first formulated in the state space. A coordinated control method that utilizes a state feedback to decouple the motion control subsystem and force control subsystem is then presented. The unilateral constraints are satisfied during the entire motion period using a proposed force control planning algorithm. The effectiveness of the control method is verified by simulations