A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 1, The proposed technique
A general framework for solving the dynamic load distribution when two manipulators hold a rigid object is proposed. 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. This is accomplished by augmenting the object`s equations of motion with additional equations which relate a new vector variable quantifying the internal contact force and torque degrees of freedom (DOF) as a linear function of the contact forces and torques. The resulting augmented system yields a well specified solution for the contact forces and torques in which they are separated into their motion inducing and internal components. A particular solution is suggested which enables the designer to conveniently specify what portion of the payload`s mass each manipulator is to bear. It is also shown that the results of the previous work are just a special case of the general load distribution framework described here.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10143230
- Report Number(s):
- CONF-940859-17-Pt.1; ON: DE94010124
- Resource Relation:
- Conference: 5. international symposium on robotics and manufacturing,Maui, HI (United States),14-18 Aug 1994; Other Information: PBD: [1994]
- Country of Publication:
- United States
- Language:
- English
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