Bolt and screw assemblage through collaborative kinematics operation of two modular robots based on the position feedback

The cooperation between two master-slave modular robots is studied in the paper. A cooperative robot system is set up with two modular robots and a dynamic optical meter-OptoTrak. With OptoTrak, the position of the end actuators is measured as the optical position feedback, which is used to adjust the actual robots end positions. A tri-layered motion controller is designed for the two cooperative robots. With the kinematics constraints of the two robots including position and pose, joint velocity and acceleration constraints, the two robots can cooperate well. A bolt and screw assembly experiment is executed to verify the methods.