ON THE ROBUST-CONTROL OF 2 MANIPULATORS HOLDING A RIGID OBJECT

In this paper, a two-arm control model is developed for the closed cha in motion of two six-joint manipulators holding a rigid object in a si x-degree-of-freedom workspace. Dynamic and kinematic constraints are c ombined with the equations of motion of the manipulators to obtain a d ynamic model of the entire system in the joint space. A transformation approach is then applied to the entire system model to obtain a trans formed reduced-order two-arm model that has a great advantage over oth er two-arm models in that this model is identical to the single constr ained robot manipulator model. To illustrate this point, a robust cont roller based on previous work is applied to our two-arm model. Simulat ion results are used to validate the theoretical results.