A kinematic model is proposed for the interaction of two robots in synchronized operation with complex motion of an object. The inverse kinematic problem is solved for two manipulators connected by the object being manipulated. Formulas are derived for the controllable generalized coordinates in group control, with constraints corresponding to parallel manipulator operation.

中文翻译：

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两台机器人同步作业互动

提出了一种运动学模型，用于同步操作的两个机器人与物体的复杂运动的相互作用。解决了由被操纵对象连接的两个操纵器的逆运动学问题。推导出群控制中可控广义坐标的公式，约束对应于并行机械手操作。