Modeling and cooperation of two-arm robotic system manipulating a deformable object

Abstract

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.