Force feedback use when moving load by a pair of manipulators

The paper considers problem of joint cargo transfer by a pair of manipulators. In accordance with the compliant control paradigm, a solution is proposed that includes the force feedback counteracting the increase in forces in the load-manipulator system. Using tensor representation and screw calculus, the one-dimensional problem is generalized to the multidimensional case. Computer model of the system under study was built and computational experiments were carried out using the Gazebo robotic simulation package. The results obtained confirm the prospects of the position force approach to solving the group control problems.

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