Experimental results of operational space control on a dual-arm robot system

摘要

This paper is aimed at reporting experimental work perfomred on a system of wo cooperative industrial robots grasping a common objects. An operational space formaulation is proposed for describing both absolute and relative variables, and proper force and velocity mappings are derived. Based on such a formulation a hybrid force/position control scheme is designed. Numerical results of a case study developed on the laboratory set-up are discussed.