Implementation of cooperative manipulation using decentralized robust position/force control

Abstract

This paper proposes a control scheme which realizes cooperative motion to handle a target object by using two robot manipulators. The first robot, which is used as the leader, has only the robust position controller. The second robot, which is used as the follower, has the position based force controller. Based on this very simple strategy, we can easily realize intelligent cooperative manipulation by completely decentralized control. We demonstrate its control performance by experiments of moving an object back and forth, and discuss on future problems.