COORDINATED DYNAMIC LOAD DISTRIBUTION FOR MULTIPLE ROBOT MANIPULATORS CARRYING A COMMON OBJECT SYSTEM

This paper presents an efficient real-time dynamic load (force) distribution method for multiple robot manipulators carrying a common object system. In the coordination for several manipulators sharing an object, a proper load (force) distribution is important. Particularly,to effectively manipulate the object without slipping and crushing, a force that required for the object to follow. the given trajectory must be properly distributed among the manipulators. The dynamic load distribution for cooperating m...