Underactuated Cooperative Manipulators

  • Adriano A. G. Siqueira
  • Marco H. Terra
  • Marcel Bergerman


In this chapter we present control strategies for cooperative manipulators with passive joints. These systems differ from the ones presented earlier because, here, one must control not only the position of the common load being manipulated by the various robots, but also the internal forces in the object to ensure it will not be damaged during the operation. Therefore, we use a hybrid motion and squeeze force controller. The strategy decouples the motion and squeeze force control problems via a Jacobian matrix that describes the relationship between the velocities of the load and the velocities of the actuated joints. The inertia matrices of the underactuated robots are not utilized, so as to reduce the possible influence of modeling errors in the controller performance. At the end of this chapter we also present a method to compute the dynamic load-carrying capacity of cooperative system with passive joints, which is an important measure of the maximum payload that can be manipulated over a given trajectory.


Jacobian Matrix Joint Torque Cooperative System Actuate Joint Passive Joint 
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Copyright information

© Springer-Verlag London Limited 2011

Authors and Affiliations

  • Adriano A. G. Siqueira
    • 1
  • Marco H. Terra
    • 1
  • Marcel Bergerman
    • 2
  1. 1.Engineering School of São CarlosUniversity of São PauloSão CarlosBrazil
  2. 2.CMU Robotics InstitutePittsburghUSA

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