Robust holding control of two cooperating robot manipulators

The adaptive load sharing needed for two cooperating manipulators to hold a common object robustly is dealt with. The task vectors for describing the task are summarized, and a hybrid control scheme for the simultaneous control of the holding forces and the carrying positions is presented. Within this framework, the robust holding problem is analyzed, paying attention to the contact conditions between the manipulators and the object. The contact conditions are formulated as a set of linear inequalities with respect to the load sharing coefficients. Based on the analysis, a heuristic but very simple algorithm for the online adaptation of the load sharing coefficients for robust holding is presented.