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Control of Coordinated Multiple Robot Manipulators

  • Wen-Hong Zhu
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 60)

Abstract

The use of coordinated multiple robot manipulators to hold a common object is motivated by applications where the object to be transported is either too large or too heavy and, therefore, beyond the capacity of a single robot. When multiple robot manipulators holding a common object altogether, the number of the degrees of freedom (DOFs) of motion is often less than the number of total actuators. This over-actuation gives rise to the creation of the internal forces. Therefore, not only the motion but also the internal forces resulting from the over-actuation need to be controlled.

Keywords

Force Control Internal Force Constraint Force Hold Object Follower Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Wen-Hong Zhu

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