Theoretical modeling study demonstrates synchronized inverse kinematics for dual-manipulator systems, suggesting improved group control during complex shared object manipulation.
A kinematic model is proposed for the interaction of two robots in synchronized operation with complex motion of an object. The inverse kinematic problem is solved for two manipulators connected by the object being manipulated. Formulas are derived for the controllable generalized coordinates in group control, with constraints corresponding to parallel manipulator operation.
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Chizhikov et al. (2020) studied this question.
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