多机械手协同的无内力抓取及动载的分配

Nonsqueezing Grasp and Dynamic Load Distribution for Multiple Cooperating Manipulators

讨论了多机械手协同系统的无内力抓取及相应的动载分配方法。对两个ＰＵＭＡ机械手协同操作同一物体的情况，进行了无内力分配原则下系统动载在关节空间的分配的数值分析。

For multiple cooperating manipulators system,the new method for object nonsqueezing grasp is introduced,and the related dynamic load distribution in the joint space is discussed.For the case of two PUMA262 manipulators handling a single object,the numerical research is conducted.