Hybrid force/motion control of two arms carrying an object

In this work we develop a hybrid force/motion controller for coordination of two robot arms carrying an object. A closed chain dynamic model is developed which helps in designing the motion controller independent of the force controller. A stable adaptive motion controller and a parameter adaptation law is designed to estimate the unknown parameters. A feedforward plus PI type force controller is developed. Stability analysis is done for both motion and force controller. It is shown that the motion controller is robust to bounded disturbances and the force controller is robust to small delay in force feedback. The theoretical results have been validated by simulations.