多机械手刚性协调动力学建模与混合控制

从力负载分析开始，阐述多手直辖市中对象的外/内力和外/内运动定义；考虑对象运动受限情况，提出一组描述协调任务的广义运动和力向量；以各机械手及对象的运动方程为基础，建立面向对象的运动学、静力学和动力学模型，该模型与单机械手操作空间的运动方程具有一致的表达形式，据此，该文探讨了多手协调情况下运动、内力和接触力的混合控制问题。

Dynamics Modeling and Hybrid Control of Rigid Coordination for Multiple Robot Manipulators

Begining with the analysis of load sharing, this paper elaborates the definition of object oriented external/internal force and external/internal motion of multi arm coordination. Assuming the object motion is constrained, a group of generalized motion and force vectors are proposed for coordinated task describing. Based on the kinetic equations of each manipulator and object, the object oriented kinematics, static and dynamic models of multi arm coordination systems are derived. These models also remain uniform with the workspace kinetic equation of single manipulator. Considering this uniformity, this paper studies the hybrid control method of motion, internal force and contact force in multi arm coordination.