On cooperative manipulation of dynamic object

摘要

Studies multiple-robot manipulator cooperative manipulation of an unknown dynamic object. The authors show a simple approach for each robot to identify the object dynamics through cooperation. The authors decentralize the position/internal force hybrid controller such that each robot has its controller and determines its control torque from its own feedback information. Experiments show the effectiveness of the control strategy.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>