Synchronous Group Operation of Robots with Arbitrary Manipulator Kinematics

When an object is being transported by two robots of arbitrary structure, it must be stabilized around the static equilibrium position in the event of kinematic and mechanical perturbations. Dynamic equilibrium of the object in the clamps is described by the Mathieu equation. In controlling the robot executive system, the manipulation system must be adjusted with minimum potential energy in the clamps. Optimal control of the speed is considered in motion of the system to a position close to static equilibrium.