Title :
Dynamics and Regrasping for Multiple Cooperating Robot Manipulators
Author_Institution :
Department of Electrical and Computer Engineering, Rice University, Houston, TX 77251-1892
Abstract :
This paper presents new results in the cooperative manipulation of objects by two or more manipulators. The case of contact due to additional manipulators grasping, or regrasping, a common object held by one or more manipulators is discussed. A model of instantaneous contact is derived, and the impulse force generated by contact found, based on the dynamic models of the manipulators and object. Applications to planning and control of interactive manipulation of common objects by multiple arms are discussed.
Keywords :
Arm; Contacts; End effectors; Fingers; Humans; Jacobian matrices; Legged locomotion; Manipulator dynamics; Robot kinematics; Solid modeling;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
