A geometric control algebra for cooperative manipulation

A geometric control algebra, represented using hybrid twist and wrench screw theory, is provided and described for cooperating manipulators to model dual-arm robotic operations. In addition to the system model of the manipulators, cooperative dual-arm robotic operations are incorporated using hybrid twist and wrench screw theory into the geometric control algebra. Single-object and two-object operations are based on hybrid twist and wrench screw theory thereby providing the fundamental relationships for freedom of motion and constraint for the dual-arm robotic operations