A New Approach on Object Slippage Control in a Cooperating Manipulators System Available to Purchase

Considering slippage in the end-effectors of a set of two cooperating manipulators grasping an object, this paper presents a new dynamic modeling and control synthesis of grasping phenomenon. This dynamic modeling is based on a new formulation for frictional contact where equality and inequality equations in the standard Coulomb Friction model are converted all to a single second order differential equation with switching coefficients. Accuracy of the friction model is verified by comparing its results with those of SimMech. Then equations of motion are reduced to conventional form for nonconstrained system. Assuming the new reduced order system to be BIBO, internal stability of the whole system is analyzed. In the control synthesis of the system a multi phase controller is utilized to control the trajectory tracking of the object as well as slippage control of the end-effectors on the object surfaces. For the proposed controller, a proof is given for system stability and its performance and robustness are shown numerically. The results show superiority of the method and its desirable and excellent performance.