Hybrid Control Of Two Cooperative Robots

摘要

This paper presents a hybrid control schleme for two cooperative robots and extends the approach of hybrid position/force control for one single robot to the case of co-operative robots. The two robots are assumed to be working on the same object with environment constraints. The generalized task specification matrices are used to divide the operational space into two independent subspaces, a position control subspace and a force control subspace. The position and force control of two cooperative robots is achieved, respectively, in the two orthogonal subspaces without influences each other. Finally we study the robustness of the hybrid control scheme proposed due to the presence of parametric uncertainty and model errors.