Control of multiple robotic arms engaged in cooperative manipulation and assembly operations

An approach to the control of robots engaged in cooperative manipulation and assembly operations is presented. The techniques uses transducers to measure constraint reactions created in the resulting closed-chain multirobot configuration by relative trajectory errors between manipulators. A structural analysis formulation is then utilized to determine the magnitude of these errors, followed by active control compensation to eliminate them. The effectiveness of the approach is demonstrated by computer simulation.<
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