Robust hybrid control schemes for a two-arm robot-performance analysis

The authors present two robust hybrid control laws for a two-arm robot manipulating a single object. The position and force controlled vectors are defined by a symmetric description of the task. By means of a realistic simulator of this robotic system, these two laws are compared via two different tasks: position control of the robot carrying a rigid object and hybrid control for a deformable object. The comparison criteria concern the robustness with respect to a modification of the dynamic parameters, and the implementation complexity. This is an essential point because the goal is to find the best solution for a real implementation on an experimental setup built around two PUMA 560 robots