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Three problems associated with the two-arm load sharing force controller are considered. These are (1) load sharing; (2) control of interactive forces and torques; and (3) the application of desired forces and torques to the object while maintaining accurate position control. These objectives are achieved by minimizing an interactive force/torque error vector. The computation of this vector requires a wrist force/torque sensor on each manipulator. The adaptive load-sharing controller developed optimizes the distribution of joint torques over both manipulators to increase the efficiency and combined load-carrying capacity of the two manipulators. Simulation results are provided.>
Mark E. Pittelkau (Mon,) studied this question.