Journal ArticleDOI
Determination of Contact Forces for Two Manipulators Mutually Lifting a Rigid Object Using A Technique of Dynamic Load Distribution
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TLDR
A new vector variable which parameterizes the internal stress contact force and torque degrees of freedom (DOF) is introduced and defined as a linear function of the contact forces.Abstract:
This article presents a new technique and approach for dynamically distributing the payload when two serial link manipulators mutually hold and transport a rigid object. A new vector variable which parameterizes the internal stress contact force and torque degrees of freedom (DOF) is introduced and defined as a linear function of the contact forces.” When this equation is combined with the object's dynamical equations, the resulting system yields a well specified solution for the contact forces as a function of the internal stress DOF parameterizing variable. The article investigates two different approaches to selecting the matrix which transforms the contact forces to obtain the internal force parameterizing variable. In one approach the matrix is selected to be orthogonal to the transformation matrix in the object's dynamical equations and in the other it is a function of two constrained scalar parameters which govern the distribution of the payload between the object motion inducing components...read more
Citations
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A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 1, The proposed technique
TL;DR: In this article, a general framework for solving the dynamic load distribution when two manipulators hold a rigid object is proposed, where the underspecified problem of solving for the contact forces and torques based on the object's equations of motion is transformed into a well specified problem.
Journal ArticleDOI
Application of a Load Distribution Technique for Contact Force Magnitude Limit Avoidance when Two Manipulators Mutually Lift a Rigid Object
TL;DR: This article addresses the problem of determining the corrective contact forces such that the internal component of the contact force solution contributes to contact force magnitude limit avoidance.
References
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Book
Applied Linear Algebra
TL;DR: In this article, the authors introduce geometric vectors and vector spaces, as well as linear transformations and matrix algebras, for solving equations and finding inverses in matrix algebra.
Journal ArticleDOI
Dynamics and stability in coordination of multiple robotic mechanisms
TL;DR: This paper discusses the dynamical coordination of multiple robot manipulators or a multifingered robot hand and a dynamic coordinative control scheme which guarantees the object stability is proposed, associated with the determination of the resultant forces.
Proceedings ArticleDOI
Optimal load distribution for two industrial robots handling a single object
Yuan F. Zheng,J.Y.S. Luh +1 more
TL;DR: Optimal algorithms without and with a bound on the joint torques are investigated for load distribution with minimum exerted forces on the object, but these algorithms are computationally complicated and not suitable for real-time applications.
Journal ArticleDOI
Analysis of motion and internal loading of objects grasped by multiple cooperating manipulators
TL;DR: A new representation of the load distribution problem is given by the introduction of a particular "nonsqueezing" pseudoinverse, which is shown to possess properties that expose the underlying structure of the problem.
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