Control of Position and Grasping Force with Cooperating Arms: A Feedback Linearization Approach

摘要

Robotic applications require coordination of multiple manipulators. This paper discusses an approach for control of manipulators with given end-effector stiffness properties. The approach is designed for concurrent regulation of position of a work piece and grasping force applied by the manipulators on the work piece. The approach is based on input-output feedback linearization. Simulations demonstrate feasibility of the proposed control scheme.