A two-arm robot system based on trajectory optimization and hybrid control including experimental evaluation

A control system for the coordination of a two-arm robot based on trajectory generation, hybrid control, and system design is presented. In particular, a method for trajectory optimization in respect of the kinematic and dynamic constraints of a closed kinematic chain is developed. Both Cartesian and joint constraints have been taken into consideration. The application of symmetric hybrid control in task-oriented object coordinates for an integrated two-arm robot system is demonstrated. Details of the developed advanced control system for two PUMA 260 robots are presented. Results of experiments performed to evaluate the position and force control scheme are illustrated to prove the performance of the overall two-arm system