Constraint of contacting points in cooperative handling

We are going to analyze on the constraint among contacting points between robots and an object that is manipulated by the robot group. Constraint can be obtained by solving pseudo inverse of matrix filled by force data measured by all robots supporting one object. The result provides additional information for obtaining a relative positioning information to the object to ordinary constraint based on geometrical reasons. This analysis on the constraint has been verified by sensing system. The model explained here can be used for estimating contacting points, fitting coordinate system among robots, and making active sensing strategy for detecting the change of environment.