Abstract
The coordinated control of two manipulators in the presence of environment constraints is studied in this paper. Such a control method is needed in applications in which the two manipulators grasp a common object whose motion is constrained by environments. The two manipulators are not only constrained with each other, but also constrained by the environment in their workspace. It is realized that the motion and constraint equations obtained directly from mechanics are not suitable for the control purpose. A set of equivalent equations are derived, which are in the standard form of the nonlinear system representation with clear state equations and output equations. A nonlinear feedback is found which exactly linearizes and decouples the dynamic nonlinear system of the two constrained manipulators. The coordinated controller design is then carried out based on the linearized system by using linear system theory.
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Yun, X. Modeling and control of two constrained manipulators. J Intell Robot Syst 4, 363–377 (1991). https://doi.org/10.1007/BF00314940
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DOI: https://doi.org/10.1007/BF00314940