On the Modeling of Two Manipulators Holding a Rigid Object

In this paper, a two arm control model is developed for the closed chain motion of two six joint manipulators holding a rigid object in a three-dimensional workspace. Dynamic and kinematic constraints are combined with the equations of motion of the manipulators to obtain a dynamic model of the entire system in the joint space. A novel transformation approach is then applied to the entire system model to obtain a transformed reduced order two arm model which has great advantage over other two arm model. Specifically, this two arm model is identical to the model used for a single constrained robot manipulator; therefore, all existing control algorithm developed for single constrained robot manipulators, such as [17, 19 and 33], can be applied to two cooperating robot manipulators.