Dynamics and Control for Multiple Cooperating Robot Manipulators

本项目研究的是 多臂操作。 的一大难点 多臂系统的实现是复杂的 机械手之间的动态交互。 该项目开发 改进的动力学公式，预计将提供一个 更高效、更有实际意义的模型 可通过闭合链方法来实现多臂动力学。 该动力学模型有望提供一个清晰、新颖、 一种计算效率高的方法来处理运动和 在联合层面上的相互作用。 它旨在 清楚地显示相互作用的力量， 复杂的约束方程 研究的三个阶段是 计划包括（1）开发多机械手 动力学模型，（2）使用该模型开发新的负载 分布和控制模型，以及（3）实施和 在双臂实验室上测试所得到的算法 设施。

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.