Experiment with two industrial robot manipulators rigidly holding an egg

摘要

An experiment with two industrial robots KUKA 361/KUKA 160 holding an egg with two hard points contact without using any flexibility is reported in this paper. This experiment illustrates the force control result based on the framework of general constrained robots. Decentralized full-model parameter adaptation is performed by using virtual decomposition. This experiment indicates that the robots are able to perform very delicate operations with the aid of advanced control algorithms and force feedback. It also highlights the potential applications to human-centred robotics.