Abstract
The use of coordinated multiple robot manipulators to hold a common object is motivated by applications where the object to be transported is either too large or too heavy and, therefore, beyond the capacity of a single robot. When multiple robot manipulators holding a common object altogether, the number of the degrees of freedom (DOFs) of motion is often less than the number of total actuators. This over-actuation gives rise to the creation of the internal forces. Therefore, not only the motion but also the internal forces resulting from the over-actuation need to be controlled.
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© 2010 Springer-Verlag Berlin Heidelberg
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Zhu, WH. (2010). Control of Coordinated Multiple Robot Manipulators. In: Virtual Decomposition Control. Springer Tracts in Advanced Robotics, vol 60. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10724-5_8
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DOI: https://doi.org/10.1007/978-3-642-10724-5_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10723-8
Online ISBN: 978-3-642-10724-5
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