Modeling and dual arm manipulation of a flexible object

This paper discusses the problem of modeling a flexible object manipulated by a dual arm system with rolling contacts. The dynamic model of the flexible object is simplified by considering as flexible coordinates the maximum deformation at each contact and assuming that the mass transfer due to deformation can be modeled by two aggregated masses that are deformation dependent and move with the maximum deformation velocity. The overall system kinematics and dynamics are derived. Simple feedback control solutions for stable grasp and regulation of the object's position and orientation proposed for rigid object control are used and shown to achieve the desired state. Simulation results are presented.