Optimal control of non-prehensile manipulation control by two cooperative arms

In this paper, an optimal control method to non-prehensile manipulation control by two cooperative arms is proposed. In details, based on the dynamic model of the two-rigid-link object, an approximate model is derived. According to the obtained model, an optimal regulator is designed to realize the holding motion of two cooperative arms which is used to keep the two-rigid-link object stable on the arms. Finally, simulation results are shown to verify the effectiveness of the proposed method.