A symmetric hybrid position/force control scheme for the coordination of two robots

A symmetric scheme-not a master/slave scheme-is proposed for the coordination of two robots to manipulate a single object jointly. The definition of workspace force, velocity, and position vectors as symmetric functions of the joint space force, velocity and position vectors of the two robots is essential to implementing the symmetric scheme. These workspace vectors are derived by first analyzing the statics of the closed kinematic chain consisting of the two robots and the object, and then calculating velocities using the force-velocity duality. The workspace-position vector is defined by integrating the velocities. The derived workspace vectors are used successfully to implement the symmetric scheme