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About this paper
Christos K. Verginis, Daniel Zelazo, Dimos V. Dimarogonas
Researchers from Uppsala University, Technion, and KTH Royal Institute of Technology integrated rigid cooperative robotic manipulation with rigidity theory to address internal force regulation. The work derives a dynamically-aware right inverse for the grasp matrix, enabling multi-robot systems to achieve zero internal forces while tracking desired object trajectories, validated through simulations showing reduced internal forces and control effort.
Key insights
- The nullspace of the cooperative manipulation grasp matrix is equivalent to the range space of the transposed D&B rigidity matrix, linking kinematic constraints to fundamental geometric properties.
- Internal forces can be uniquely expressed as a function of the system's inertia and the rigidity matrix, providing a dynamically informed understanding of their origin.
- Achieving zero internal forces is a necessary and sufficient condition if and only if the right inverse used for force distribution is the specific dynamically-aware G* = M G^T (GMG^T)^-1.
Summary by alphaXiv.
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