Cooperative task-space control with kinetostatic filtering of atwo-manipulator system

摘要

This paper addresses the problem of cooperative task-space controlof a two-manipulator system holding a rigid object. The cooperativetask-space is defined as a set of meaningful absolute and relativevariables fully characterizing the system, and a task-space control isdevised. Then, a kinetostatic filtering of the control action isintroduced which is shown to cancel out stresses on the held object atsteady state; this is obtained without resorting to force measurements.Simulation analysis and experimental validation of the proposed controlscheme for a planar cooperative task is performed on a setup of twoindustrial manipulators