Cooperative grasping and transportation of an object using two industrial manipulators
This video shows an example of cooperative grasping and transportation of an object using two industrial manipulators. A two-layer hierarchical, kinematic control is adopted, based on a suitable task formulation for general multi-arm systems. Reference:
F. Basile, F. Caccavale, P. Chiacchio, J. Coppola, A. Marino: A decentralized kinematic control architecture for collaborative and cooperative multi-arm systems, Mechatronics, 23, 1100-1112 (2013).
Francesco Basile, Fabrizio Caccavale, Pasquale Chiacchio, Jolanda Coppola, Alessandro Marino
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With the courtesy of P. Chiacchio, , J. Coppola, A. Marino and F. Basile, Università degli Studi di Salerno
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