A real-time control system for the coordination of two industrial robots

Abstract

Coordination of multiple manipulators is a well investigated research topic, but only few approaches were proved by experimental results. In this paper, a new scheme for coordinating and controlling two manipulators, based on hybrid position/force control is presented and validated by experiments. This new scheme is based on underlaying position control and therefore usable for industrial robot control systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>