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Cooperative control of two arms in the transport of an inertial load in zero gravity

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2 Author(s)
Carignan, C.R. ; Dept. of Aeronaut. & Astronaut., MIT, Cambridge, MA, USA ; Akin, D.L.

In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized `reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 4 )