An extension of passive velocity field control to cooperative multiple manipulator systems

Abstract

Traditionally, tasks for a manipulator are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to extend the PVFC to cooperative multiple manipulators is proposed, and the effectiveness of the control method is demonstrated by numerical simulations, and some properties are shown.