Control for Two Cooperative Disparate Manipulators
Lew, Jae Young
Book, Wayne John
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The concept of a small arm mounted on the end of a large arm has been introduced to provide precise motion as well as a large workspace. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, simulation results are presented to show the possibility that the proposed control scheme provides the disparate manipulators with better accuracy than the large arm and more payload capacity than the small arm. In the near future, experimental studies on the existing arrangement (RALF and SAM) are scheduled to verify the feasibility of the proposed concepts.