Abstract: For the situation of multiple
cooperating manipulators handling a single object, an
equilibrium equation is presented in which the manipulator
dynamics and control forces/torques are taken into account, and
a expression is derived to allow the optimal dynamic load
distribution of the combined system can be made.
Key words:
Multiple cooperating robot
manipulators Optimal distribution Dynamic coordinate
* This project is supported by National Natural Science Foundation of
China. Manuscript received on December 7, 1993
|