A control strategy for task planning of coordinating robots

A control strategy with a dynamic redundancy compensator is presented for Cartesian space control of coordinating multiple robots manipulating a common object. The proposed control scheme embeds dynamics of the individual coordinating robot arms and dynamically is capable to compensate for the kinematic/dynamic redundancies while preserving optimum forces/torques distribution between the end-effectors of robot arms. The results of the study were demonstrated on the control of two robot arms manipulating a common object through prescribed coordinated motion paths.<
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