Determination of Contact Forces for Two Manipulators Mutually Lifting a Rigid Object Using A Technique of Dynamic Load Distribution

ABSTRACTThis 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...