Abstract
This paper is concerned with a coordinative manipulation problem by multiple robot manipulators in the three dimensional-space. First, taking account of not only the dynamics of manipulators but also the dynamics of object motion, we derive a basic equation of a coordinative manipulation system by three manipulators in the three dimensional space, which is a suitable form for designing a position control system. Second, based on this equation, a positioning servo system is designed which achieves the desired command response and has some robustness to cope with the modeling error. Also, a potential is introduced to achieve a firm grasp. Finally, a simulation result is given to show the validity of our method.
