Controller Design and Experimental analyses of Two-Robot Coordination System

The paper set up a system structure of the coordination of the human motor control system in layered modularization. A module of object hybrid impedance controller (HIC) was designed for it to compensate the whole dynamics. The inner force controller and movement controller were designed by adopting the method of nonlinear dynamic decoupling and impedance controlling. Integrated controller of two-robot can be realized by combining those two controllers. It was shown in the experiment result that the two-robot coordination control system was control effect is satisfactory and met the design requirement.