On Control System of the Two-Robot Coordination

摘要

Based on the features of two-robot coordination control system, a coordination system in layered modularization was set up from the human motor control system. A module of object hybrid impedance controller (HIC) was designed, so it can compensate the whole dynamics and its stability was analyzed.After make the inner force controller combine reasonably with the motor controller, the integrated controller of two-robot can be realized. The experiment results show that the control effect is satisfactory.