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One of the approaches to increase the dexterity of a robot manipulating system is a design philosophy which consists of multiple robotic mechanisms. Applications of such collection of manipulators can be in the design of a dextrous end-e ector, a recon gurable xture to locate and grip various sized objects or cooperative robotic arms where through their coordinated motions, they are able to accomplish a given task. Although applications of such design philosophy are endless, there are many problems still remain to be addressed. One of these problems is the control of the contact forces (grasping forces) between the mechanisms and the position of the grasped object. This paper addresses this problem. First, a model of the mechanisms in contact with the grasped object is postulated; second the problem of controlling the grasping forces and the position of the grasped object is formulated in the linear multi-input/multi-output system and nally, a centralized optimal controller is proposed for controlling the desired variables. The results of this paper are demonstrated using two examples. One of the main advantages of the proposed optimal controller is that it also shapes the transient response of the grasping force which is an important consideration in cases when grasping fragile objects.

Force and position control of grasp in multiple robotic mechanisms