New technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 2, Derivation of entire system model and control architecture

摘要

A rigid body model for the entire system which accounts for the load distribution scheme proposed in Part 1 as well as for the dynamics of the manipulators and the kinematic constraints is derived in the joint space. A technique is presented for expressing the object dynamics in terms of the joint variables of both manipulators which leads to a positive definite and symmetric inertia matrix. The model is then transformed to obtain reduced order equations of motion and a separate set of equations which govern the behavior of the internal contact forces. The control architecture is applied to the model which results in the explicit decoupling of the position and internal contact force-controlled degrees of freedom (DOF).