Compliant coordination control of two moving industrial robots

When two robots execute coordinated motion in industrial application such as assembly, not only is the specification of the desired motion of each robot´s end effector required, but also that of the desired contact force exerted on the end effectors. The involvement of the forces is the motivation for a consideration of compliance. The compliant coordination control scheme of two moving robots is presented. One robot is equipped with a force/torque sensing wrist, which provides force feedback signals and permits the fine coordinated motion control of complex assembly tasks. A control strategy is derived so that the measured force/torque can be used to modify the trajectory of one of the robots. This control scheme can be realized in real time by using the proposed computational structure. The system stability is related to the force-displacement conversion gain in the forward path. An experiment that screws a moving nut onto a moving bolt has been carried out as an illustration