A new approach for modeling and cooperating two manipulators handling a deformable object is presented. Based on the decomposition of a deformable body into a reference component and a deformation component, a general deformable model is developed and the complex control task is divided into two subtask, i.e., the control of the reference motion and the control of the deformations. The position/force controllers and a null-space control law are proposed and demonstrated in the simulations.
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