Dexterous Cooperative Manipulation with Redundant Robot Arms

摘要

A novel model-based force-position control scheme for cooperative manipulation tasks with redundant arms is proposed in this paper. Employing an orthogonal decomposition of the object contact mechanics, independent pose and force trajectory tracking can be achieved. In this way, a high precision cooperative scheme is enforced since the projection of the object velocity into the contact normal direction converges to zero, improving the system cooperativeness. Simulation results are presented for a humanoid torso to visualize its closed-loop performance.