Controller design for coordinative manipulation by multiple manipulators

The authors propose a controller design method for coordinative manipulation by multiple robot manipulators in which both the dynamics of the manipulator and the dynamics of the object are taken into account. In particular, the vector defined from the contact points between the object and the manipulators is adopted to express the orientation of the object globally. The proposed control system achieves the object trajectory tracking with appropriate grasping forces. Furthermore, a method for controlling the posture of the manipulators by using kinematic redundancy subject to the coordinative manipulation is presented