Nonlinear Feedback Control of Multiple Robot A r m s :

closed kinematic chains and 1 2 ) as a force constrainad mechanical system working on the samo object simultaneously. based on a feedback linearization and simultaneous output docoupling technique. Applying a nonli ear faodback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. controllers in the task space. The first formulation has the advantage of automatically handlinq the coordination and load distribution among the robot arms. In the second formulation, by choosing a general output equation we could superimpose the pornition and velocity error reedback with tho force-torque error feedback in the task space simultaneously. mltiple coordinated robot a m s h y considrring the arma (1) as