Experiments in Multi-Grasp Manipulation

In this paper, we present results in dextrous, multi-grasp manipulation based on the integration of two basic concepts: the virtual linkage and the augmented object. The virtual linkage provides a physical representation of internal forces and moments during multi-grasp manipulation. It does this by representing the manipulated object with an equivalent closed-chain mechanism. To control object motion, we describe the operational-space, rigid-body dynamics for the multi-manipulator/object system using the augmented object. With this concept, motion of the manipulated object and the forces it applies to the environment are controlled by operational forces at some selected point on the object. This control force is then partitioned among the arms in such a way as to minimize internal (strain-causing) forces. These forces are characterized by the virtual linkage and controlled independently. This approach enables a multi-arm robot system to manipulate objects while performing accurate control of internal forces. Simulation results are presented, as well as experimental results for a multi-arm system of three PUMA 560 manipulators.

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