Hand-Over of Unstable Object Between Multiple Manipulators

This paper deals with the coordinated controller design for a certain kind of cooperative manipulation of an unstable object with multiple robotic manipulators. Based on the system description in the framework of differential-algebraic equations (DAEs), control problems of the object manipulation with a single and two manipulators are formulated. By characterizing a hand-over operation as a result of the simultaneous solution to the both problems, a reliablecontroller design technique is applied to derive the controllers. Thus formulating the hand-over control problem as a reliable control problem derives a class of the object which can be handed over at least by using the proposed control scheme and a constructive design method of the controllers. The experimental results are included.