A control system for cooperating tentacle robots

A control system is proposed to solve the local control for a multi-chain robotic system formed by tentacle manipulators grasping a common object with hard point contacts. The two-level hierarchical control is adopted. The upper level coordinator gathers all the necessary information to resolve the force distribution. The lower-level local control problem is then treated as an open-chain redundant manipulator control problem. A closed loop control based on the inverse dynamic model and the DSMC procedure are proposed. The fuzzy rules are established. Simulation results are presented and discussed.

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