Dynamics and Control for Multiple Cooperating Robot Manipulators

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This project addresses research in the dynamics and control of multiple arm manipulation. A major difficulty in the implementation of multi arm systems is the complexity of the dynamic interactions between manipulators. This project develops an improved dynamics formulation which is expected to provide a more efficient and physically meaningful model than currently available by closed chain approaches to multiple arm dynamics. The dynamics model is expected to to provide a clear, novel, and computationally efficient method of dealing with both motion and interaction effects at the joint level. It is designed to clearly display the interactive forces without resorting to complex constraint equations. Three phases of research are planned and include (1) development of a multiple manipulator dynamics model, (2) use of this model to develop new load distribution and control models, and (3) implementation and testing of the resulting algorithms on a dual arm laboratory facility.